added ground truth visualization

2019-06-28 12:13:02 +02:00
parent 53e2a5d524
commit 7b7e966217
3 changed files with 33 additions and 12 deletions
--- a/include/msckf_vio/msckf_vio.h
+++ b/include/msckf_vio/msckf_vio.h
@ -328,6 +328,7 @@ class MsckfVio {
    // Subscribers and publishers
    ros::Subscriber imu_sub;
    ros::Subscriber truth_sub;
+    ros::Publisher truth_odom_pub;
    ros::Publisher odom_pub;
    ros::Publisher marker_pub;
    ros::Publisher feature_pub;