My issac sim version is 2022.2.0
I calibrated the IMU using imu_utils and yesterday I was able to run Vins-Mono steadily, but orbslam3 still didn’t work. Today, vins-mono can not be run stably. I found that when I changed the frequency of the IMU from low to high, say from 30 to 100 to 200HZ, the noise of the output IMU reading also increased. When the robot is not moving, the IMU output data changes constantly (on the order of e-1). Do you know how to solve it?
Note: I use action graph to publish IMU topic, And set the Time Steps Second value in PhysicScene and window – simulation – settings – Physics Settings – Min Simulation Frame Rate to enable the IMU frequency to reach 100hz or 200hz, and run rosparam set use_sim_time true. Using rosrun rqt_topic rqt_topic to check the topic frequency, I can see that I set it successfully.
And I found that when the simulation frequency was higher, such as the IMU frequency of 200HZ, using the action graph of controlling the car’s movement with this keyboard from issac sim tutorial:(2. Drive TurtleBot via ROS messages — Omniverse Robotics documentation) and Command :rosrun teleop_twist_keyboard teleop_twist_keyboard.py, the car would not turn correctly, it was chaotic.