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lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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Any plans to release a version that supports ros? #9

Closed Taeyoung96 closed 2 years ago

Taeyoung96 commented 2 years ago

@lukasvst
Hi, Thanks for your great work!
I have a question about DM-VIO support ROS.
Do you have any plans to support the ros version?
Thanks,

lukasvst commented 2 years ago

It depends on how large the interest in ROS support is and in how much time I will have. The first plan is to add a live demo (without ROS) for some Realsense cameras, which could be extended to a ROS driver afterwards.

Maybe people who are interested in ROS-support could mark the post with 👍 so I get an overview?

lukasvst commented 2 years ago

Maybe a small update on this. The live demo for the Realsense T265 is working and the code for this will be published in the next 2-3 weeks. I will also release a ROS driver soon, hopefully next month (June).

Taeyoung96 commented 2 years ago

@lukasvst
Thank you so much for not forgetting to reply.
Looking forward to some great code! :laughing:

lukasvst commented 2 years ago

The live version for the Realsense T265 is now public, for more information (including some general tips for running on custom datasets) see https://github.com/lukasvst/dm-vio/blob/master/doc/RealsenseLiveVersion.md

The plan is still to release a ROS driver based on this live version towards the end of this month.

lukasvst commented 2 years ago

The ROS wrapper is now released at https://github.com/lukasvst/dm-vio-ros I hope it will be useful!