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Re: Livox Avia, + Depth cameras and organized point clouds.

Posted by FPSychoric on Dec 15, 2022; 4:17pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9247.html

Respect to your question I left everything IMU related as default, /camera/imu, I didn't modified it as I use d435 as you.
To be honest I don't understand how the IMU part in the launch works, as only there is a input, camera/imu but two remaps, imu/data looks feed the odometry,and imu/data_raw looks feed the Madgwick filter node . I think maybe  my t265 published imu data and imu data raw, but my d435i doesn't publish any raw data, so I think I have an IMU topic missing as I have not filtered or raw IMU data published.
Should I add a second IMU topic form a external IMU or lidar's IMU?
Should I substitute (arg imu_topic)/filtered by Livox/IMU, mavors/IMU I.e?

I hope I what I said is understandable