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Odometry velocity in wrong frame #224

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goldbattle opened this issue Feb 6, 2022 · 0 comments · Fixed by #232

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bug

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goldbattle commented Feb 6, 2022

Should be in the local "child" frame.
https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html

The twist in this message should be specified in the coordinate frame given by the child_frame_id

Needs to be changed in both visualizers:
https://github.com/rpng/open_vins/blob/master/ov_msckf/src/ros/ROS1Visualizer.cpp#L260-L267

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Develop v2.6 - Dynamic Initialization and Async Publishing #232

Merged

goldbattle closed this as completed in #232

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