Questions about running GVINS with my own device.

[SSZ1]

Hi~bro. I ran the GVINS with my own device (including a realsense D455 as the VIS and a H-RTK-F9P as the GNSS module ). I set all the device right. And the GPS runs fine. But it shows "length error" in the Ublox-driver terminal windiow.But when I run the GVINS project with the estimate_extrinsic 2. But After I roslaunched the GVINS , the terminal windows shows only "init begins". And I opened the rviz , it had the original image and the feature point image but no pose. I echoed the enu_pose and other messages outputed by GVINS, they are all none. So why is this?

Could you give me some advice about this? Thanks a lot.

[ZoYooJy]

could u tell the details about the Synchronization between vi & gnss receiver module? thx very much!!!

[SaiSugunSegu]

@ZoYooJy , what method of Synchronization would you suggest for synchronizing GNSS and VI

I use GPIO trigger to synchronize the VI system,

• would you prefer any other good method for Synchronization - be it (Camera + IMU) or (GNSS+ camera+ IMU).

what do you do if the sensor doesn't have GPIO pins?