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rpng / ov_maplab

Interface for OpenVINS with the maplab project
https://docs.openvins.com/
GNU General Public License v3.0
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exit with bug in 'ros1_serial_msckf.cpp' in number 225. #7

Closed rechardchen123 closed 1 year ago

rechardchen123 commented 1 year ago

Hi, I just found a bug when launching the tutorial in the docker environment. The log can be found in ov_maplab based on the 'ros1_serial_msckf.cpp' in 225. It is raised by the view_imu_iter nullptr when executing the final frame of the rosbag. I fixed the bug based on adding the code:

    if (should_process_imu) {
      viz->callback_inertial(msg_imu_current);
      builder->callback_inertial(msg_imu_current);
      msg_imu_current = msg_imu_next;
      view_imu_iter++;
      if (view_imu_iter == view_imu->end())
        break;
      msg_imu_next = view_imu_iter->instantiate<sensor_msgs::Imu>();
      continue;
    }

Please check it and merge it, thanks.