Genozen

Hi @matlabbe, yes that's the hope to continue computing covariances based on updated pose from ARKit. I've verified in the `ViewController.Swift` that the pose still gets computed by the ARKit...

Hi, sorry for the duplication on the question (thought my message didn't go through). And yes, the `/odomimu` is a `Odometry msg` ``` ros2 topic info /ov_msckf/odomimu Type: nav_msgs/msg/Odometry Publisher...

@matlabbe I've remapped some of the topics to match the Openvins one, using the example you gave: ``` ros2 launch rtabmap_launch rtabmap.launch.py \ visual_odometry:=false \ odom_topic:=/ov_msckf/odomimu \ rgb_topic:=/camera/d435i/color/image_raw \ depth_topic:=/camera/d435i/depth/image_rect_raw...

@borongyuan Hello, I see you have a PR that was merged regarding OpenVins + Rtabmap. I would love to test this out but am too novice to this. Any chance...

Thanks @borongyuan! I do have an Oak-D Pro W unopened yet (might be IMX378, but I'll try to get the OV9782), is there a recommended config or topic remapping I...

Good news, somehow I got the `/rgbd_image` to publish now ~11 to 15 Hz then slowly ramps up to 60 Hz... and no more warning messages. (need to reproduce the...

@matlabbe. Just got back to working on it. The Rtabmap is indeed reporting 1 Hz. (The synced node, rgbd_image is around 3~5 Hz). I've added a manual tf topic to...

> With `rtabmap-databaseViewer`, when doing "File->Export Poses...", you can then choose in which frame you want the poses. The `camera` frame should be there (default is base frame). @matlabbe ,...

@Marcus-D-Forte Hello, thank you for updating your branch. I was able to clone it but got a build error: Device: Jetson Xavier NX devkit Version: Jetpack 5.1 ``` colcon build...

Just right off the bat, all your matrices are identity.... which they should not after performing the Kalibr steps correctly. Maybe double-check again?