修改rs_camera.launch: <arg name="enable_gyro" default="true"/> <arg name="enable_accel" default="true"/> <arg name="enable_sync" default="false"/> <arg name="unite_imu_method" default="linear_interpolation"/> 重新运行后查看是不是imu话题中同时包括加速度计和陀螺仪数据: rostopic echo ...
修改rs_t265.launch,一个是保持IMU和图像信息同步,另一个要确保输出IMU数据。 <arg name="enable_sync"default="true"/>,<arg name="unite_imu_method"default="copy"/> kalibr推荐IMU 200Hz,图像20Hz,参考上面用topic_tools throttle限制频率,然后录制bag。之后调用kalibr的算法计算IMU和camera外参。 kalibr_ca...
在rs_camera.launch文件中确保以下两个参数为true: <arg name="enable_sync" default="true"/> <arg name="align_depth" default="true"/> 前者是让不同传感器数据(depth, RGB, IMU)实现时间同步,即具有相同的 timestamp; 后者会增加若干 rostopic,其中我们比较关心的是/camera/aligned_depth_to_color/image...
在rs_camera.launch文件中确保以下两个参数为true: <arg name="enable_sync"default="true"/> <arg name="align_depth"default="true"/> 前者是让不同传感器数据(depth, RGB, IMU)实现时间同步,即具有相同的 timestamp; 后者会增加若干 rostopic,其中我们比较关心的是/camera/aligned_depth_to_color/image_r...
_approx_sync:=false \ /depth/image:=/camera/depth/image_rect_raw \ /depth/camera_info:=/camera/depth/camera_info \ _decimation:=4 roslaunch rtabmap_ros rtabmap.launch\ rtabmap_args:="\ --delete_db_on_start \ --Icp/VoxelSize 0.05 \ ...
enable_sync: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. <stream_type>_qos: Sets the QoS by which the topic is published. ...
<arg name="enable_accel"default="true"/>//联合方式copy或linear_interpolation<arg name="unite_imu_method"default="linear_interpolation"/>//时间戳同步<arg name="enable_sync"default="true"/> 11再编写一个launch文件,命名为my_vins_d435.launch,也保存在~/catkin_ws/src/realsense-ros/realsense2_ca...
For example: enable_infra1:=true enable_color:=false enable_sync: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. <stream_type>_qos: Sets the QoS by which...
enable_sync: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. <stream_type>_width,<stream_type>_height,<stream_type>_fps: <stream_type> can be any ofinfra, ...
enable_sync: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. <stream_type>_width,<stream_type>_height,<stream_type>_fps: <stream_type> can be any ofinfra, ...