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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Record trajectory and using ov_eval with ROS2 #483

Open diplodocuslongus opened 3 weeks ago

diplodocuslongus commented 3 weeks ago

Hi, I've managed to save the state by following this but can't figure out how to save a trajectory to a text file in ros2.

How can one record a trajectory in ROS2, and then how to use ov_eval for performance evaluation (ATE, ...)?

Related: https://docs.openvins.com/eval-error.html#eval-ov-transform https://github.com/rpng/open_vins/issues/347

The record.launch file in src/open_vins/ov_eval/launch/record.launch doesn't seem to have a launch.py equivalent. The subscribe.launch.py (for ros2) file doesn't seem to fully reproduce what the ros1 subscribe.launch does, in particular there is no node name="recorder_estimate" (the subscribe.launch* files are in install/ov_msckf/share/ov_msckf/launch/ ).

Thanks for any hint you may provide!

goldbattle commented 5 days ago

I think the ros2 launch should be updated to match what we have for the ros1. You can try modifying it yourself. Feel free to post it here if you do get a modified version working.