Manthan Patel

I am also having a similar issue with the published rate. I tried modifying the code according to [this repo](https://github.com/xuhao1/airsim_ros_pkgs/tree/c1bb1579b64299cd987f25e11c01f061170e60a3) but I am only getting a publish rate of around...

@rajat2004 I am not using a Lidar. Here is the settings file which I am using [[Settings.json]](https://github.com/xuhao1/airsim_ros_pkgs/blob/master/vins_airsim/settings.json) Though the rate significantly improved to 20 Hz upon using the "NoDisplay" viewmode

There seems to be a problem with the sync of images from left and right cameras ( ~0.05 sec) @xuhao1 did you face this issue?

@kminoda Yes I just changed the "ViewMode" to NoDisplay in the settings.json file. In addition, I also replaced the [airsim_node.cpp ](https://github.com/xuhao1/airsim_ros_pkgs/blob/c1bb1579b64299cd987f25e11c01f061170e60a3/src/airsim_node.cpp)file that is given in this repo though I do...

@kminoda Did you change the coordinate system for IMU ? And which parameters file did you use ?

Hi Regarding point 3, yes the back-end was not designed to handle the map-resets of ORB_SLAM3 and thus it will fail everytime a map-reset is performed. You can maybe try...

#26 Could be something useful for you as well

Hi You will need to look into the CPP code to see where the changes are done. For example some changes are done in the following files. There could be...

Hi You will need to make modifications to the VINS codebase in order to use the Stereo with COVINS back-end. An alternative would be to use Front-end Wrapper along with...

Hi You will need to save the map when you pause. You can then load the saved map data for your new run. The detailed instructions for this are provided...