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no trajectory displayed #20

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Lisiyuan555 opened this issue Feb 18, 2022 · 5 comments
Closed

no trajectory displayed #20

Lisiyuan555 opened this issue Feb 18, 2022 · 5 comments

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@Lisiyuan555
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Sorry to bother you again, rviz does not show the trajectory when I run the ADVIO dataset downloaded from your official website, what could be the reason?
Screenshot from 2022-02-18 11-53-11
@karnikram
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That is strange, it looks like the estimator is running. Can you do a rostopic echo rpvio_estimator/odometry to see if the odometry is being published? I am not hundred percent sure about the topic name.

@Lisiyuan555
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Here is the screenshots:
Screenshot from 2022-02-24 10-33-01
All covariances are 0, is the calculation result wrong?

@karnikram
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No, the covariance is neither computed nor published. But it looks like the poses are being published fine so this is probably just a visualization issue. Can you please check if the right topic is selected in rviz?

@Lisiyuan555
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OOOOh, is this right?
Screenshot from 2022-02-24 11-23-44
By the way, so RP-VIO doesn't calculate covariance at all?

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@Lisiyuan555
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OOOOh, is this right?
Screenshot from 2022-02-24 11-23-44
By the way, so RP-VIO doesn't calculate covariance at all?

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@karnikram @Lisiyuan555