Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

ROS 2 compatible & What should be the ideal frequency for IMU and camera? #446

Open
serkanMzlm opened this issue Apr 2, 2024 · 1 comment
Open

ROS 2 compatible & What should be the ideal frequency for IMU and camera? #446

serkanMzlm opened this issue Apr 2, 2024 · 1 comment

Comments

@serkanMzlm
Copy link

serkanMzlm commented Apr 2, 2024 •
edited

1 - Will it be made compatible with ROS2?
2 - What should be the ideal frequency for IMU and camera?
@serkanMzlm
Copy link
Author

serkanMzlm commented Apr 4, 2024 •
edited

As I converted the code to ROS 2, I conducted experiments with the 'V1_01_easy' bag file, and the output turned out to be different from ROS 1. Upon inspecting the output data, I noticed that the data published from the feature_tracker part remains the same, while the position data published from the VINS estimator part appears to be significantly larger, despite the orientation data being similar.

ROS:

  • /imu0 hz: 200
  • /cam0/image_raw hz: 19.9

ROS2:

  • /imu0 hz: 134
  • /cam0/image_raw hz: 19.9

image

rviz2:
image

@serkanMzlm serkanMzlm changed the title ROS2 compatible ROS2 compatible & What should be the ideal frequency for IMU and camera? Apr 4, 2024
@serkanMzlm serkanMzlm changed the title ROS2 compatible & What should be the ideal frequency for IMU and camera? ROS 2 compatible & What should be the ideal frequency for IMU and camera? Apr 4, 2024
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@serkanMzlm