IMU fusion status

[dakejahl]

Is there any way to tell if IMU fusion is working or not? The VisualSlamStatus.vo_state doesn't ever change from 1.

# Pure visual odometry return code:
# 0 - Unknown state
# 1 - Success
# 2 - Failed
# 3 - Success but invalidated by IMU
uint8 vo_state

Same goes for when tracking is lost, vo_state remains at 1.

[AlexKlimaj]

We are testing on a drone, using the output of VIO to hold position with PX4. Knowing the state of would be very helpful in PX4.

https://github.com/ARK-Electronics/isaac_ros-dev

https://youtube.com/playlist?list=PLUepQApgwSox1ydUYJx27fTYQnn74SkTY&si=Yk6WCbx0eF9s6Y97

https://review.px4.io/plot_app?log=38789a73-c5d6-4702-bbea-1f87ce57f67a

[hemalshahNV]

IMU fusion is actually a feature we will ship in the next release of Isaac ROS. The interface had been added for compatibility with other editions of the libcuvslam libraries.

[AlexKlimaj]

So this statement in the README isn't correct about using IMU?

This package uses a stereo camera with an IMU to estimate odometry as an input to navigation.

[hemalshahNV]

There was an IMU fallback feature (when visual tracking is lost, libcuvslam would try to run on pure IMU for a fix timebound), but that's been replaced with IMU fusion.

[hermanndererdmann]

is there a timeframe when the new release will be published?

[franfrancisco9]

Any news on when IMU Fusion will be active?

[anthonywebb]

It looks like Isaac ROS 3 added it, but I can confirm it still doesnt work

[yurii-drevnytskyi-dianomix]

Can you confirm that IMU fusion doesn't work? I'm trying to figure out why turning it on doesn't improve the odometry results.