Closed Styazoua closed 5 months ago
Hi @Styazoua you can record rosbag after setting "unite_imu_method" as 1 or 2 Then I think you can be able to run.
Hi @Styazoua I have the same problem, do you find a solution?
Yes the "unite_imu_method" argument solved the problem. I use this command to launch the camera and record:
# launch camera
roslaunch realsense2_camera rs_camera.launch enable_accel:=true enable_gyro:=true enable_infra1:=true enable_infra2:=true unite_imu_method:=linear_interpolation infra_width:=640 infra_height:=480 global_time_enable:=true
# rosbag record
rosbag record -O recording.bag /camera/imu /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw
Imu data is published on "/camera/imu" topic
Hello,
First I want to say that I am not that deep into ROS. I would like to run Stereo-Inertial with ROS and a pre recorded bag file with Intel RealSense D435i. I already tried the ros_stereo_inertial example. But while looking into the source code I have seen that it subscribes to /imu topic. But when I record with the D435i I have the IMU data devided in 2 separate topics (acceleration and gyro). Is there a way to run that without modifying the whole example? I was hoping to find something in this repo.