ROS 2

[sacovo]

I managed to compile and run the software on ros2, but I'm not happy yet with the results, but I'm not sure what the issue is. I can start it up, with the euroc_mav configuration. And then I start to play one of the rosbags, and it starts tracking and also publishes results. But the results are way off, and the covariances are huge.

Maybe I'm doing something wrong with setting the whole thing up, or there seems to be an issue with something I changed in order to make it build on ros2.

I don't have a ros1 setup to compare, which makes this a bit harder.