Re: Unable to run rgdb with OpenLoris Scene Dataset

Posted by VK on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unable-to-run-rgdb-with-OpenLoris-Scene-Dataset-tp7752p7773.html

Dear Mathieu,

thank you for your response. I used the script and it worked!

Now, considering the IMU usage, I have some more questions...

1. Is it possible to use the VIO approaches with the rtabmap's rgbd odometry? I have build from source rtabmap_ros, do I have to do something more ?
2. My bag file, contains separate accel and gyro IMU msgs (and separate imu_info topics respectively). Is it possible to use them as separate topics? However, I used a python script for merging them in a single imu topic, though with out computing orientation quaternions, thus I receive an ERROR message that IMU received topic doesn't have orientation set. How can I solve this issue?
3. The separate IMU info topics are published only one time at the beginning. Do I have to merge them as well as the messages and also to republish them (as you did with the camera info topic)?

Thank you in advance,

Valia