Running on PC

[myboyhood]

When I'd like to run this project on my PC, I chose to run
“roslaunch d2vins realsense.launch”
and then I changed the params in d435_single.yaml such as
"

imu_topic: "/dji_sdk_1/dji_sdk/imu"

image0_topic: "/camera/infra1/image_rect_raw"

image1_topic: "/camera/infra2/image_rect_raw"

"
and left.yaml and right.yaml
"projection_parameters:"
to my params, then I try to roslaunch, but when the terminal writes
“
[ INFO] [1683553483.037062515]: D2VINS node 1 initialized. Ready to start.
[ INFO] [1683553483.037151392]: Starting d2vins_net lcm.

”
then it cannot write anything on the screen, just looks like to wait for some other topics???
but there are any other input topics except imu and camera/infra1 /infra2 ?

[myboyhood]

and when I run now, the imu_sub can subscribe the imu topic, but pgo_fused_sub sub nothing
"
imu_sub = nh.subscribe(params->imu_topic, 1000, &D2VINSNode::imuCallback, this, ros::TransportHints().tcpNoDelay()); //We need a big queue for IMU.
pgo_fused_sub = nh.subscribe("/d2pgo/swarm_fused", 1, &D2VINSNode::pgoSwarmFusedCallback, this, ros::TransportHints().tcpNoDelay());
"
but where does the "/d2pgo/swarm_fused" come from ? i cannot find who publishes this topic in project

[xuhao1]

@myboyhood This topic is published by D2PGO at this line
https://github.com/HKUST-Aerial-Robotics/D2SLAM/blob/main/d2pgo/src/d2pgo_node.cpp#L133
You should launch with enable_loop:=true enable_pgo:=true to enable this.