Odometry/SLAM with external IMU

Posted by marlu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Odometry-SLAM-with-external-IMU-tp9475.html

Hi,
I would like to improve the odometry/SLAM performance by substituting OAK camera's internal IMU with high-end Xsens IMU. In terms of implementation, both camera and IMU are USB connected to the same PC. Does such a replacement require hardware data sync, or is it sufficient to just adjust rtabmap's imu_topic to subscribe to the right data?