How to run this code?

[cecileclav]

Hi,

I am using the EuRoC dataset. I build the code on ROS kinetic on Ubuntu 16.04. I ran the exact code line which appears in the README file. However, after only two IMU callbacks, the data of my IMU is nan and 0.. I already checked my dataset and it is not empty. Please, does someone see what is going on here?
Thank you

[ziyangli]

Find a timestamp from the groundtruth and copy that to stand_still_end in the launch file.

The code try to initialize with a groundtruth. If stand_still_end is not correctly set, the quaternion is initialized to be (0, 0, 0, 0).

[cecileclav]

From which file do I need to copy the timestamp ? From the imu0 one ?

[k-chaney]

The images themselves are named by the timestamp in the ASL dataset format. They'll be in a folder like this
euroc/MH_03/mav0/cam0/data
Just find the image that is at the end of the second stand still and use the filename without png (make sure to keep the '.' because it needs to be a double because of the size of the number).

Alternatively ROS node support is underway and I'm hoping to have it done by the end of the week if you just want to wait for that.

[saber]

@ziyangli How to find the correct timestamp from the groundtruth data file. when I load a dataset from the given link, There is a folder named state_groundtruth_estimateo in which a data.csv file is found. So, which timestamp is correct in the data.csv? Thanks.

[johnny-wang16]

In addition to changing the "stand_still_end" parameter in the launch file, the "stand_till_start" parameter also needs to be changed, it will just be the first image in the sequence. Alternatively, you can add the "stand_still_start" parameter in the roslaunch commnad in the same format. Dont forget the dot! Good luck!