Hi,
I am trying to run nvblox through a Realsense D455 camera. After setting up Realsense with Docker as mentioned in this link, I run realsense-viewer and see that the RGB and Stereo images are shown, but the Motion Module data can’t be seen.
I go ahead nevertheless and run nvblox with realsense_example.launch.py, and see that nvblox gives a reconstruction, but the IMU data is not being considered for the VSLAM part of it. Echoing /camera0/imu gives nothing. This lack of IMU data gives us a lot of drift in map generation.
Installing the Realsense Debian packages in the docker container gives IMU data when launching the Realsense camera through the viewer and ros2’s realsense launch file rs_launch.py. When running nvBlox through realsense_example.launch.py, though, an error is seen in RViz, saying, “Frame [odom] does not exist” and no reconstruction is obtained.
Any help?