Gravity link not found, localization won't be corrected with gravity

[TOM_RB]

hi
i am using three depth D435i cameras with T265 (for localization)
there is a warning when i launch my file (image below)
I try to set this parameter :
param name="Mem/UseOdomGravity"        type="string" value="true"
also
param name="Optimizer/GravitySigma"    type="string" value="0.3"
but nothing changed >>

[matlabbe]

If you set Optimizer/GravitySigma to 0, th warning should go away, but it won't optimize with gravity.

When you set Mem/UseOdomGravity to true, you should make sure that your input odometry is always aligned with gravity (e.g. VIO). If it is T265 odometry, it should be fine.

When you created the map, those parameters may not have been set. Both nodes added during mapping and localization should have gravity links to work.

[TOM_RB]

thanks a lot
this works fine