庄庭达 comments

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                                            庄庭达

ok，rviz的话确实需要配置好坐标系

I did not test the viw-fusion in ubuntu20.04+ROS Noetic. You can add some log to locate the line where segmentation fault occur.

@weisongwen I have developed VIW-Fusion based on Vins-Fusion. You can try whether Vins-Fusion will diverge