Live camera configuration files

[ergys00]

I want to run openvins with my Realsense T265 camera but I'm having trouble understanding how it all runs. Can I skip writing the .yaml configuration files and simply make the .launch file such as it can read the imu_info, camera_info topics and use the information published in those topics for the configuration?

Is the configuration file a must? Can i run openvins without the configuration files? When i try to do that it gives me an error saying that it can't read the configuration file

[WoosikLee2510]

It's probably because your path to the config file is wrong. I recommend double-checking your path in the .launch file. If your path is correct but still seeing the problem, you can try passing false arg to the parse_config function (e.g., link). If this doesn't work, you can replace all the parser->parse_config with (ros_node_handler)->param() which directly accesses the ros parameters you set in your launch file.

[goldbattle]

The recommendation is to use the config file system. Please see the examples in the repo: https://github.com/rpng/open_vins/tree/master/config

The camera and IMU are a nearly identical format to that of kalibr.

Otherwise, you will need to override all parameters in your launch file directly, and likely need to disable the code to try to open a config file (or point it to an empty yaml file).

[ergys00]

I've set configuration files with the right values that i got from the tool rs-enumerat-devices fo my realsense t265 but when i try to launch subscribe.launch of ov_msckf the path diverges, initially it stays stable but after some movements it starts to diverge

[goldbattle]

You likely need to perform calibration: https://docs.openvins.com/gs-calibration.html

I think at some point I posted an example t265 configuration, if you search the issues you might be able to find it.

On Thu, Dec 1, 2022 at 9:08 AM ergys00 @.***> wrote:

I've set configuration files with the right values that i got from the tool rs-enumerat-devices fo my realsense t265 but when i try to launch subscribe.launch of ov_msckf the path diverges, initially it stays stable but after some movements it starts to diverge

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[goldbattle]

I have uploaded an example configs here: https://github.com/rpng/open_vins/tree/master/config/rs_t265

[ergys00]

thanks!!!