VSLAM with only Odometry

Autonomous Machines Robotics - Isaac Isaac ROS
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Hi,

I would like to use isaac-ros-vslam for only Visual Odometry and not Localisation. I would want to fuse the Visual Odometry output with my other odom providers later.

Setting only enable_localization_n_mapping to False would achieve this or should the publish_map_to_odom_tf parameter also be set to False (as there are multiple odometry providers and tf tree should not be messed up)? Is there any other setting I’m missing for this use-case?

I would also like to validate the VSLAM odometry output with my other odometry provider source. Is there a recommended approach you suggest?

Many Thanks,

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Hi @amu459

You are setting up properly Isaac ROS vslam if you want only the output from visual odometry:

  • enable_localization_n_mapping to False
  • enable_imu_fusion to False (just to be sure there are no inputs from IMU sensors)
  • publish_map_to_odom_tf to False

We made the Isaac ROS Benchmark — isaac_ros_docs documentation
you can take a look at building a similar benchmark following our code

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