Using intel realsense t265 as an odometry source

wh200720041 / ssl_slam2

SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021

GNU General Public License v3.0

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Using intel realsense t265 as an odometry source #11

Open mshong0320 opened 3 years ago

mshong0320 commented 3 years ago

Hi,

I'd like to get some help on how to integrate a t265 tracking camera as an odometry source for the /odom topic instead of using odomEstimationMappingNode to obtain /odom.

How should I make changes on the mapOptimizationNode to make this work with a t265 sensor?

wh200720041 commented 3 years ago

Hi @mshong0320

You can disable the publisher by commenting // pubLaserOdometry.publish(laserOdometry);

in odomEstimationMappingNode.cpp