qvio ros2 topics
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Hi, i would appreciate some clarification from dev team or others using qvio with ros topics
i have installed voxl-mpa-to-ros2 and noticed that the /qvio topic publish 2 different messages - one is PoseStamped interface the other odometry - i guess each hold same data and one message is just more extended than the other?
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Yes you can look at it that way. Pose is just the generic positional data inclusive of the quaternion and imu wrt vio/camera - odometry is that as well as things like the twist or better known as velocity wrt to the vio instance/camera and the angular velocity wrt to the vio/camera.
Let me know if this better helps you understand - all the code is open sourced btw so feel free to take a gander for a programatic understanding:
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