How to save full trajectory?

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hey everyone,

I’m trying to run Isaac ROS Visual SLAM on recorded bagfiles and now wondering how to get the full trajectory (with loop closing) in a .txt file (tum Format)?

I think it is in /visual_slam/tracking/slam_path but it seems like there is not the whole trajectory?

Is there an efficient way to save it?

Thanks!

2

Hello @nic2021,

Thanks for posting in the Isaac ROS forum!

If you would like to save the full trajectory, you can use /visual_slam/get_all_poses service, please refer here for more information.