update technical report

fengepsilon · Jun 19, 2017 · 67ba02e · 67ba02e
1 parent c0edd92
commit 67ba02e
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Showing 3 changed files with 4 additions and 7 deletions.
diff --git a/ar_demo/launch/ar_A3.launch b/ar_demo/launch/ar_A3.launch
@@ -1,16 +1,12 @@
 <launch>
 
-<!--     <include file="$(find vins_estimator)/launch/A3.launch"/>
- -->
+    <include file="$(find vins_estimator)/launch/A3.launch"/>
+
     <node pkg="ar_demo" type="ar_demo_node" name="ar_demo_node" output="screen">
         <remap from="~image_raw" to="/djiros/image"/>
         <remap from="~camera_pose" to="/vins_estimator/camera_pose"/>
         <remap from="~pointcloud" to="/vins_estimator/point_cloud"/>
         <param name="calib_file" type="string" value="$(find feature_tracker)/../config/A3/A3_config.yaml"/>
         <param name="use_undistored_img" type="bool" value="false"/>
     </node>
-
-<!--
-    <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find ar_demo)/config/AR_demo.rviz" />
-    -->
 </launch>
diff --git a/support_files/paper/tro_technical_report.pdf b/support_files/paper/tro_technical_report.pdf
diff --git a/vins_estimator/src/estimator_node.cpp b/vins_estimator/src/estimator_node.cpp
@@ -162,7 +162,8 @@ void imu_callback(const sensor_msgs::ImuConstPtr &imu_msg)
         predict(imu_msg);
         std_msgs::Header header = imu_msg->header;
         header.frame_id = "world";
-        pubLatestOdometry(tmp_P, tmp_Q, tmp_V, header);
+        if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR)
+            pubLatestOdometry(tmp_P, tmp_Q, tmp_V, header);
     }
 }