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Issue saving the simulation state with save_total_state in ROS2 #477
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Where do you change these files? Your fix does the trick to save the deviation and estimate states, but the groundtruth isn't saved though. Thanks a lot anyway. |
I'm not too sure what you mean by saving the groundtruth, but the above workaround allowed me to save the estimated state, which includes the trajectory, to a text file. |
I was referring to the ground truth data that is included in a dataset when running OpenVINS offline. Also the data format saved in the estimated state file is different from that expected by ov_eval for, e.g., trajectory alignment. |
I think this needs to be fixed. I think the ROS2 version of this saving doesn't work as expected. |
Hi, I noticed an issue when trying to save the simulation state in a ROS2 environment. After changing
filepath_est
,filepath_std
andfilepath_gt
, when using thesave_total_state:=true
flag, I get the following error:However I noticed this can be worked around by manually replacing
"state_estimate.txt"
,"state_deviation.txt"
and"state_groundtruth.txt"
with your own full filepaths in the following file:open_vins/ov_msckf/src/ros/ROS2Visualizer.cpp
Lines 108 to 110 in 17b73cf
This would then give me a stderr output when rebuilding, but it worked as a temporary fix.
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