How to run the ros_gnss_stereo_inertial?

[LuoXubo]

Hi, thanks for your great work!

I've built the GNSS_SI under the ROS directory following your instructions. And the executable file is generated without errors:

...
[ 75%] Linking CXX executable Stereo_Inertial
[ 75%] Built target Stereo_Inertial
[100%] Linking CXX executable GNSS_Stereo_Inertial
[100%] Built target GNSS_Stereo_Inertial

However, when I run this command:

rosrun ORB_SLAM3 GNSS_Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM-VI_far.yaml true

There is an error:

[rospack] Error: package 'ORB_SLAM3' not found[rospack] Error: package 'ORB_SLAM3' not found[rospack] Error: package 'ORB_SLAM3' not found

Could you help me solve this problem?

[jcremona]

Hi! Have you followed these steps?
https://github.com/CIFASIS/gnss-stereo-inertial-fusion?tab=readme-ov-file#ros-node
In particular, adding the export command to the .bashrc file.

[LuoXubo]

Thanks for your reply. I've fixed this problem. Instead of ORB_SLAM3, I should run this command:

rosrun GNSS_SI GNSS_Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM-VI_far.yaml true

And I have one more question about the optimization. If there are only two types of source data (like images and GNSS data ) fed into the system, will the estimation be optimized? Or is the estimation optimized only when there are exactly three types of source data (images, GNSS data and IMU data)?

[jcremona]

The current implementation of GNSS_Stereo_Inertial assumes it receives images, GNSS and IMU as input. Measurements from the three sensors are needed.