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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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[KAIST] Process died when use_imu_res is disabled. #5

Closed SchwartzSkipper closed 11 months ago

SchwartzSkipper commented 11 months ago

Hi, Woosik. Really appreciate this great work!

I am currently running KAIST urban 30 dataset. Everything works fine when using subscribe.launch with the defaut kaist/kaist_LC config.

However, when I try to run with polynomial estimated residuals,
mins/config/kaist/kaist_LC/config_estimator.yaml-> use_imu_res: false, the [mins_subscribe-2] process died on startup. Screenshot from 2023-10-11 16-43-17

Could you take a look at this problem? Much appreciated.

WoosikLee2510 commented 11 months ago

Hi, thanks for using MINS! I fixed the issue with commit. Try pulling the latest version and let me know if it fixes your problem.

SchwartzSkipper commented 11 months ago

Thanks! This problem is solved. 😃👍