/visual_slam/status is incorrect ?

[sandeepdutta]

Hello,

I am seeing this message on the launch console .
[component_container-1] [WARN] [1707351289.041480251] [visual_slam_node]: Visual tracking is lost
but the vo_state field in the status message remains 1.
Is there some parameter I should set to enable the status reporting ?
Parameters in the visual slam launch file are.

                'denoise_input_images': True,
                'rectified_images': True,
                'enable_debug_mode': False,
                'debug_dump_path': '/tmp/cuvslam',
                'enable_slam_visualization': True,
                'enable_landmarks_view': True,
                'enable_observations_view': True,
                'enable_localization_n_mapping':True,
                'publish_odom_to_base_tf' : True,
                'publish_map_to_odom_tf': True,
                'map_frame': 'map',
                'odom_frame': 'odom',
                'base_frame': 'base_link',
                'input_imu_frame': 'IMU_1',
                'input_base_frame': 'base_link',
                'image_qos': 'SERVICES_DEFAULT',
                'input_left_camera_frame': 'rs_top_infra1_frame',
                'input_right_camera_frame': 'rs_top_infra2_frame',
                'enable_imu_fusion': False,
                'gyro_noise_density': 8.6e-05  ,
                'gyro_random_walk':2.2e-06,
                'accel_noise_density': 1.4e-03,
                'accel_random_walk':8.0e-05,
                'calibration_frequency': 200.0,
                'img_jitter_threshold_ms': 100.00

Sandeep

[dakejahl]

+1 for this. I also would expect the vo_state to report when the IMU is being fused or not. I need to be able to differentiate between a VIO and VO solution.