Reading bag file differently about open_vins HOT 4 CLOSED

The difference between pgeneva_serial_eth.launch and pgeneva_ros_eth.launch is that the first one reads the bad in serially, thus you can change the start time etc. from inside the ros node. This cannot be used to subscribe to a live sensor since it needs to read a rosbag. This node is a nice way to debug the algorithm without worrying about it running real-time.

I believe you are looking to use the second one, so this plays back the bag on ros, and the node subscribes to the specified topics (as compared to reading the bad in serial). If you comment out line https://github.com/rpng/open_vins/blob/master/ov_msckf/launch/pgeneva_ros_eth.launch#L112-L113 you will need to play the rosbag from another terminal, or subscribe to a real sensor as right now this launch file starts playing back the bag automatically.

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@goldbattle Thank a lot, exactly that I was looking for. It worked :) .

To use Monocular vision. I should change the value = false at line 25 as following <param name="use_stereo" type="bool" value="false" />, is that correct?

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That is only if there is more than 2 cameras specified in max_cameras, so you don't need to change that. If you have two stereo images and want to process them in a binocular way (i.e. feature tracks are independent, no cross tracks) you can set the use_stereo to false.

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@goldbattle Thank a lot!!

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