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rpng / ov_secondary

Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.
https://docs.openvins.com/
GNU General Public License v3.0
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roslaunch loop_fusion posegraph #4

Open uts-hb opened 3 years ago

uts-hb commented 3 years ago

Hi, I am just trying to run it with the V1_01_easy.bag file. But had an issue with launching the loop_fusion pose graph showing [POSEGRAPH]: waiting for camera info topic... .

uts-hb commented 3 years ago

Solved by changing topics in posegraph.launch. From 

    <remap from="/vins_estimator/extrinsic"        to="/ov_msckf/keyframe_extrinsic"/>
    <remap from="/vins_estimator/keyframe_point"   to="/ov_msckf/keyframe_feats"/>
    <remap from="/vins_estimator/keyframe_pose"    to="/ov_msckf/keyframe_pose"/>
    <remap from="/vins_estimator/intrinsics"       to="/ov_msckf/keyframe_intrinsics"/>

To

    <remap from="/vins_estimator/extrinsic"        to="/ov_msckf/loop_extrinsic"/>
    <remap from="/vins_estimator/keyframe_point"   to="/ov_msckf/loop_feats"/>
    <remap from="/vins_estimator/keyframe_pose"    to="/ov_msckf/loop_pose"/>
    <remap from="/vins_estimator/intrinsics"       to="/ov_msckf/loop_intrinsics"/>
goldbattle commented 3 years ago

I should fix the launch file, will re-open so I remember to do this. Thanks!

HuZexild commented 2 years ago

I am facing this problem too, however, I tried the method you provided that change "keyframe" into "loop", it still shows waiting for camera info topic...

shervinkoushan commented 1 year ago

I am facing this problem too, however, I tried the method you provided that change "keyframe" into "loop", it still shows waiting for camera info topic...

Same issue here with the latest master of OpenVINS. @goldbattle do you know how to solve this problem?

By the way, pgeneva_ros_eth.launch does not currently exist in the ov_msckf package.

Edit Seems to work after all by running ov_msckf subscribe.launch with the above fix. However, it takes around 10 seconds before the pose graph receives the camera info message.