Comments (2)
You would need to run these nodes (assuming one agent with ID 0):
- Play the original MH rosbag file
- Run the node
vins_estimator
(e.g.roslaunch vins_estimator multi_euroc_0.launch
) - Run the node
pcl_fusion
(e.g.roslaunch pcl_fusion pcl_fusion_node_euroc.launch
)
Then you can record the output topics to the target rosbag. The topics you will need are:
- /leica_0/position
- /pcl_fusion_0/fused_pcl
- /pcl_fusion_0/fused_vins_keyframe
- /pose_graph_0/vins_keyframe
- /vins_estimator_0/odometry
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Closing due to inactivity. Feel free to re-open in case you need further support.
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