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ShuoYangRobotics / Cerberus

Visual-Inertial-Leg Odometry For Legged Robots
GNU General Public License v3.0
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vilo odom function abnormally and casidi error #5

Closed P1terQ closed 1 year ago

P1terQ commented 1 year ago

Thanks for the opensource. I want to add Cerberus to my simulation controller. And i run the program in the real environment of my PC(ros noetic) and pub four topics like sensor setup page required. However, i met with the following problem. At first, TF published in vilo can follow the ground truth in RVIZ but only for rotation. Translation of vilo/odometry is always nearly zero. And i check the /a1_filtered_pos, /a1_filtered_imu, /feature_tracker/feature(in ImageView), they seems to function normally. After a short perold, the roation begin to drift and at some point TF published by vilo explode and give big numbers. Sometimes, this happens at the beginning. It's worth mentioning that casidi always gives an error that beseline3 can't be found in /tmp at first. So l have to manually copy those files to the /tmp folder to get rid of this error.

P1terQ commented 1 year ago

It's caused by wrong extrinsic parameter of camera