Closed stevedanomodolor closed 2 years ago
Imu frame. It should match the ROS spec.
On Thu, May 12, 2022, 12:54 AM stevedanomodolor @.***> wrote:
I have a doubt, in what frame is the velocity data in the loop_pose is in?, is it the inertial frame(global) or the body frame?
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FLU?
I am not sure what "FLU" means.
This doesn't actually publish the velocity: https://github.com/rpng/open_vins/blob/master/ov_msckf/src/ros/ROS1Visualizer.cpp#L769-L780
You should use the /ov_msckf/odomimu
if you want to get the velocity.
The loop_*
topics are for use with the secondary thread.
Thank you
I have a doubt, in what frame is the velocity data in the loop_pose is in?, is it the inertial frame(global) or the body frame?