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christopherdoer / rio

RIO - EKF-based Radar Inertial Odometry using 4D mmWave radar sensors
GNU General Public License v3.0
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Running without trigger #17

Closed cmakelabs closed 4 months ago

cmakelabs commented 4 months ago

I would like to ask, is it possible to run the node without having topic_radar_trigger, It is just that the dataset I am using is custom, and the radars there do not have a trigger topic

joelsa commented 4 months ago

Yes, just supply the corresponding config option to the launcher:

roslaunch package name launch_file_name.launch run_without_radar_trigger:=True

However, if you check the x-rio paper (x-RIO: Radar Inertial Odometry with Multiple Radar Sensors and Yaw Aiding), then it states:

Thus, the received radar scans have a varying time offset which scales with the radar scan size. Our implementation should be used for online navigation even under dynamic motion. Thus, a real-time navigation system is required. Hence, a delayed orocessing (e.g., 100 ms) is not possible. Therefore, each radar sensor is triggered via a dedicated hardware trigger signal. Consequently, the exact time stamps of the corresponding radar scans are known

So YMMV.

cmakelabs commented 4 months ago

Thank you for the elaborate answer