VINS-Mono
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HKUST-Aerial-Robotics
getting ros warn imu message in disorder
i am continuously getting warning message saying imu message in disorder...why is it so...also the vins estimation drifts away very fast . Is it due to incorrect imu bias?
This is due to incorrect timestamps and large unsynchronisation between imu and image frames
@Razbotics Hello, how did you deal with the problem of "imu message in disorder!", could you give me a hint? Thank you!
@chenwinki check the time difference of imu and image timestamp and assign td in the config file.
@srikar8 Thank you ! But I assign the td in the config file by calibrate imu and camera using kalibr, but I still get the warning "imu message in disorder", I also tried give a initial td and online estimate time offset, it does not work either.
@chenwinki Please try checking the code that sets the timestamp in the imu driver.
@innovatim Thank you! I will try your advice, actually, i use ZED MINI, and the driver zed_wapper, I will spend some time to read the code.
@chenwinki Hello! I'd like to ask whether you ran VINS successfully using ZED-mini? I'm considering buying a ZED-mini as a VI sensor.
@msamogh @JUGGHM I still can run vins with zed-mini, but I run msckf with zed-mini, I think vins need Strict calibration.
You can try to adjust the frequency of the imu. I solved this warning by this method, but recently I found that the odometer drift is more serious. I haven't determined whether it is caused by this change.
I am getting the same warning for playing the rosbag I had created from https://github.com/OSUPCVLab/mobile-ar-sensor-logger/wiki
You can try to adjust the frequency of the imu. I solved this warning by this method, but recently I found that the odometer drift is more serious. I haven't determined whether it is caused by this change.
I just want to know how you reduce your imu stream frequency , is that just reducing the imu data timestamps in file imu0.csv?
