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pjrambo / VINS-Fusion-gpu

This repository is a version of VINS-Fusion with gpu acceleration. It can run on the Nvidia TX2 in realtime
GNU General Public License v3.0
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跑vins的时候出现wait for imu #38

Open lei-zihao opened 4 months ago

lei-zihao commented 4 months ago

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Hezhexi2002 commented 3 months ago

@lei-zihao 这应该是qos配置的问题，d435i发布imu的topic时qos配置的是best_effort,而vins创建imu订阅时候默认是reliable，可以在rosNodeTest.cpp里将创建imu订阅那里的qos也改成besteffort匹配，这样就能订阅到了