Kimera-vio & kimera-rpgo

[LauGasp]

Hello,

I'm working with the kimera-vio-ros module to extract 3D poses from the RealSense D435i camera. Currently, I can visualize the estimated odometry and the path traveled using this module, in addition to visualizing the graph generated by posegraph_viewer.

I'm now trying to integrate the RPGO module into my system. However, I'm finding it difficult to understand how to connect these two modules effectively.

I wanted to do it first for 1 robot before implementing it for more than one.