Hemal Shah

The Intel Realsense package had some breaking changes for parameter names. These should be fixed in the latest version of Isaac ROS Visual SLAM if you're able to try it...

Does the map_url directory exist and writeable? It would be easier to just use `/tmp` instead if that works.

Isaac ROS Visual SLAM will report odometry in the `base_link` frame. If you want to track the camera pose, leave both `input_base_frame` and `base_frame` are both empty and the left...

The difference between `odometry` and `vo_pose` is that the former is "smooth" and has no jumps but can drift where as the latter is rectified and has "localization jumps" when...

@alexmillane Any comment on if the latest version of nvblox satisfies this feature request?

Isaac ROS only supports ROS2 unfortunately as Open Robotics has shifted their efforts away towards Humble and its successors. ROS1 ports from the community are always welcome and shouldn't be...

@alexmillane Any comment on if the latest version of nvblox supports this the feature they way it was described here?

We've pushed out changes to [`isaac_ros_visual_slam_realsense.launch.py`](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam/blob/main/isaac_ros_visual_slam/launch/isaac_ros_visual_slam_realsense.launch.py) with updates for changes in Intel Realsense parameters. Could you try running with this launch file and let us know if you're still seeing...

IMU fusion is actually a feature we will ship in the next release of Isaac ROS. The interface had been added for compatibility with other editions of the libcuvslam libraries.

There was an IMU fallback feature (when visual tracking is lost, libcuvslam would try to run on pure IMU for a fix timebound), but that's been replaced with IMU fusion.