How to launch and change topics for monocular visual inertial odometry?

[nicko369]

I'm trying to run openvins together with a simple drone on ROS I'm just using a standard ROS camera plugin. Which configuration do I use? How can I change the topics the openvins node is subscribed to as well?

[nicko369]

Also since I'm simuating this in gazebo, do I set the camera parameters and IMU parameters to 0?

[goldbattle]

If you could provide more details and configuration you are using, that would be great. Make sure to go through the tutorials to understand the package first and what is required as input (inspect the example rosbags). https://docs.openvins.com/gs-tutorial.html

You need some noises, so you could leave those at 1pixel and maybe the default for eurocmav. But you will need the calibration transform between the camera and IMU sensor you subscribe to.