Justin Smith

I have recently been investigating a similar problem, here is what I know so far: The database is internal to the T265, though [it is possible ](https://github.com/IntelRealSense/librealsense/pull/3324)to export it and...

I have not tried it myself, but here is a [code sample](https://github.com/IntelRealSense/librealsense/tree/master/examples/ar-advanced) showing how to export and import the map.

I have implemented map exporting and importing, with successful relocalization, in a local branch of the ROS realsense code. I will try to make it into a public fork soon.

I created a fork with my changes [here](https://github.com/ivaROS/realsense-ros). If the '`map_out` parameter is specified, the onboard map will be exported to that location when the node exits. If the `map_in`...

@zainmehdi The realsense camera starts a new SLAM session every time and reports its pose wrt where it started (more or less). Published poses are in this realsense odometry frame....

@germal It is a virtual landmark, also referred to as a _static node_ in the [realsense api](https://intelrealsense.github.io/librealsense/doxygen/classrs2_1_1pose__sensor.html), and doesn't actually affect the camera's internal process of tracking and localizing. A...

@germal I'm not entirely sure what you mean by _lose the information of the static node_. I have not used a t265 concurrently with a d435 for that purpose, but...

@arjunsengupta98 I don't know, I have only tested the code with apt `version 2.7.7-0~realsense0.29` and then only on a Core i7 equipped laptop. It sounds like it is able to...

@marcelino-pensa I'm glad my implementation was helpful. I'll see if I can create a followup PR to merge in the code that publishes the transform for the original map's coordinate...

@TobiMiller @fgrcar Here is how I worked around the problem: ``` #Class that fixes the problem class RoslaunchShutdownWrapper(roslaunch.parent.ROSLaunchParent): def shutdown(self): server = self.server.server if self.server is not None and self.server.server...