Modify the odometer

[XU0510]

Hello, thank you very much for your excellent open-source work. I am currently conducting research on visual SLAM odometry, and your work has been very inspiring to me. How can I modify the odometer part of your system?

[XU0510]

And I also found an issue where the system cannot run when I change thein the launch file to false. What does use_gt_frame mean here? Can't find the corresponding uh_2vio.launch file? We look forward to your reply.

[kameel2311]

I am having the same issue, tried a crude idea but didnt work by replacing line 68 by:

And setting visualization to false in hydra.launch and playing the rosbag in a differet terminal but that does not work

@Schmluk any tips as running the pipeline without GT poses would be great

[Schmluk]

Hi @XU0510 and @kameel2311

Many thanks for reaching out and for your patience! We're currently working on the release of the real-world data and the corresponding pipeline, it things go smoothly we expect next week!

• RE gt_poses: Will take the poses published from TF (in this case ground truth from the simulator). If set to false will try to run Kimera and get the poses from there (although it seems that launch file uh_2vio did not make it into the release, we will fix this ASAP!
• RE Odometry: Khronos is a high-level perception framework, that takes odometry (from any source, e.g. visual, LiDAR, Kinematic, or GT) as an input. In our version we ran Kimera as VIO source, we're working on getting this release ready!