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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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D435i ros stereo-inertial not IMU meas #627

Open riderpunch opened 2 years ago

riderpunch commented 2 years ago

I'm using V1.0 of ORB_SLAM3 and preset d435i yaml ,already commenting out: 'sensor.set_option(RS2_OPTION_AUTO_EXPOSURE_LIMIT,50000)', not enough acceleration part and not enough acceleration and Not enough motion for initializing. Reseting... part to make the non-ROS version of stereo-inertial work normally. But when I use the ros version, not IMU meas will always appear and reset map. I would like to know how to solve it.

CodeineX commented 1 year ago

@riderpunch Thank you for asking this doubt, could you please tell how you approached this issue and could you fix it? I have been facing the same issue since the last week. @jmm-montiel @jj-gomez @jdtardos @richard-elvira could you provide any inputs to this. Also I am very thankful to you for maintaining this repository.

riderpunch commented 1 year ago

I must regret to tell you that I did not solve this problem. I switched to opensource_tracking.launch in realsense_ros to provide similar functions, but the disadvantage is that he cannot move at high speed. High-speed movement will cause the gyroscope to make robot_localization unable to generate the correct odom, which will cause the program positioning to fail to recover.

cyizhuo commented 1 year ago

I think this problem is caused by "imu timestamp and img timestamp diffs too much", and can be solve by setting "global_time_enabled = true" in realsense launch file, and verified by echo imu timestamp and img timestamp