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How to save the trajectory of rovio? #231

Open InkSpade opened 4 years ago

InkSpade commented 4 years ago

I have successfully run the system, but i cannot find the pose.txt of rovio. Can anyone help me?

InkSpade commented 4 years ago

The only way i find is: In Rovio_Node.hpp, define an ofstream class, and then save the eight data (timestamp, xyz of p, xyzw of q) on the posture of sending IMU to the .txt file under the path you set. code show as below: opose << ros::Time(mpFilter->safe.t) << " " << imuOutput.WrWB()(0) << " " << imuOutput.WrWB()(1) << " " << imuOutput.WrWB()(2) << " " << imuOutput.qBW().x() << " " << imuOutput.qBW().y()<< " " << imuOutput.qBW().z() << " " << -imuOutput_.qBW().w() << std::endl;