@tom We have experimented with it, but I am not sure about the format of voxl-mapper, and have trouble getting voxl-mapper working with just stereo cameras. Do you guys have more resources on it besides the github page?
We are also wondering if it is worth it getting the voxl-mapper working, or will it automatically work with voxl_mpa_to_ros2 pointcloud interface or have some different representation which requires us writing our own piep interface?
Also what branch is the stable version of voxl_mpa_to_ros2 because I can see the master branch doesn't allow us to stream QVIO odometry?
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/master/colcon_ws/src/voxl_mpa_to_ros2/src/interfaces/qvio_interface.cpp?ref_type=heads
I believe you are publishing the same topic 2 different message types which I don't believe is allows in ROS2.
void QVIOInterface::AdvertiseTopics(){
char topicName[64];
sprintf(topicName, "%s", m_pipeName);
pose_pub_ = m_rosNodeHandle->create_publisher<geometry_msgs::msg::PoseStamped>
(topicName, rclcpp::SensorDataQoS());
odom_pub_ = m_rosNodeHandle->create_publisher<nav_msgs::msg::Odometry>
(topicName, rclcpp::SensorDataQoS());
m_state = ST_AD;
}