EuRoC Forum

Hello,

I am trying to find the transformations from ground_plane::link to firefly::pose_sensor1_link and firefly::pose_sensor2_link. So far I have used the data provided in /gazebo/link_states but I am not sure if this topic will be available for final evaluation and would like to have it confirmed. Thanks in advance,

The CVG-UPM Team

/gazebo/link_states will not be available. However, you can initialize the transformations during the 30s startup phase. The technical annex has information in that in section 3.5.1.