Re: rtabmap does not compile with current OpenVINS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-does-not-compile-with-current-OpenVINS-tp8601p8611.html

Hi Dominik,

I fixed the build errors with latest OpenVINS version. I tested with:

roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 10" record_ground_truth:=true
rosbag play --clock V1_01_easy.bag

Got around 5 cm ATE. There is a red screen for about 5-7 seconds at the beginning until the drone takes off.



Note that a way to guess to which dependency version an Odometry approach has been tested is to look at the last commit of the odometry file. For example, the previous commit for OdometryOpenVINS was on March 28 2021, so you may have tried the OpenVINS version at that date. So if OpenVINS breaks again their API in the future, you know how to find the compatible version.

cheers,
Mathieu