About frequency of sensors and msgs format

[nothing371442]

Hi, thanks for your great job!

I have some questions about frequency of sensors.
In Dr. Wen website (https://github.com/weisongwen/UrbanNavDataset), in HK dataset, the IMU and camera are 100Hz, but in these pages, it changed.
Is it means that only UrbanNav-HK-Data20190428 and UrbanNav-HK-Data20200314 adopt the old sensor suite frequency, and other dataset uses new one？

Another question, for using GNSS data, could you mind telling me how to acquire "novatel_msgs/INSPVAX.h", for I test VINS-fusion in
UrbanNavDateset, and this error happens when compiling.

Thanks a lot!
Best wishes

[DarrenWong]

Hi, thanks for interested in our work.

Yes, the frequency of IMU is increased to 400Hz in the data collected in 2021. The UrbanNav-HK-Data20190428 and UrbanNav-HK-Data20200314 adopt the old sensor suite frequency.

You can install the novatel msg by

sudo apt install ros-kinetic-novatel-msgs  # for ubuntu 16.04 with ros kinetic
sudo apt install ros-melodic-novatel-msgs  # for ubuntu 18.04 with ros melodic

[nothing371442]

Hi, thanks for interested in our work.

Yes, the frequency of IMU is increased to 400Hz in the data collected in 2021. The UrbanNav-HK-Data20190428 and UrbanNav-HK-Data20200314 adopt the old sensor suite frequency.

You can install the novatel msg by

sudo apt install ros-kinetic-novatel-msgs  # for ubuntu 16.04 with ros kinetic
sudo apt install ros-melodic-novatel-msgs  # for ubuntu 18.04 with ros melodic

Thanks a lot !