New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Odometry velocity in wrong frame #224

Closed

goldbattle opened this issue Feb 6, 2022 · 0 comments · Fixed by #232

Labels

bug

Member

goldbattle commented Feb 6, 2022

Should be in the local "child" frame.
http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html

The twist in this message should be specified in the coordinate frame given by the child_frame_id

Needs to be changed in both visualizers:
https://github.com/rpng/open_vins/blob/master/ov_msckf/src/ros/ROS1Visualizer.cpp#L260-L267

goldbattle added the bug label

goldbattle mentioned this issue

Develop v2.6 - Dynamic Initialization and Async Publishing #232

Merged

goldbattle closed this as completed in #232

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment