Frame of reference velocity

[stevedanomodolor]

I have a doubt, in what frame is the velocity data in the loop_pose is in?, is it the inertial frame(global) or the body frame?

[goldbattle]

Imu frame. It should match the ROS spec.

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[stevedanomodolor]

FLU?

[goldbattle]

I am not sure what "FLU" means.

This doesn't actually publish the velocity:
https://github.com/rpng/open_vins/blob/master/ov_msckf/src/ros/ROS1Visualizer.cpp#L769-L780

You should use the /ov_msckf/odomimu if you want to get the velocity.
The loop_* topics are for use with the secondary thread.

[stevedanomodolor]

Thank you