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跑vins的时候出现wait for imu #38

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lei-zihao opened this issue Apr 14, 2024 · 1 comment

lei-zihao commented Apr 14, 2024

Hezhexi2002 commented May 31, 2024

@lei-zihao 这应该是qos配置的问题，d435i发布imu的topic时qos配置的是best_effort,而vins创建imu订阅时候默认是reliable，可以在rosNodeTest.cpp里将创建imu订阅那里的qos也改成besteffort匹配，这样就能订阅到了

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