Hi, thanks for releasing the DRACo-SLAM2 code and datasets. I am trying to reproduce and extend the replay pipeline using the public DRACO2 datasets.
I successfully decoded the DVL topic /rti/body_velocity/raw with message type rti_dvl/msg/DVL, which contains velocity.x/y/z, temperature, altitude, time, and header. However, I could not find the calibration/frame convention metadata for this DVL stream in the public repo or dataset.
Could you please clarify:
- What coordinate frame is
/rti/body_velocity/raw expressed in?
- What are the axis directions and units of
velocity.x/y/z?
- Is there a DVL-to-robot/base/sonar extrinsic transform available?
- Is there any known timestamp offset between DVL, IMU, sonar, and
pose_true?
- Are bottom-lock/FOM/validity flags available in another DVL topic or message?
This would be very helpful for using DVL velocity as an independent factor in the DRACo pose graph. Thanks!
Hi, thanks for releasing the DRACo-SLAM2 code and datasets. I am trying to reproduce and extend the replay pipeline using the public DRACO2 datasets.
I successfully decoded the DVL topic
/rti/body_velocity/rawwith message typerti_dvl/msg/DVL, which containsvelocity.x/y/z,temperature,altitude,time, andheader. However, I could not find the calibration/frame convention metadata for this DVL stream in the public repo or dataset.Could you please clarify:
/rti/body_velocity/rawexpressed in?velocity.x/y/z?pose_true?This would be very helpful for using DVL velocity as an independent factor in the DRACo pose graph. Thanks!