Running on PC about d2slam

[myboyhood]

and when I run now, the imu_sub can subscribe the imu topic, but pgo_fused_sub sub nothing
"
imu_sub = nh.subscribe(params->imu_topic, 1000, &D2VINSNode::imuCallback, this, ros::TransportHints().tcpNoDelay()); //We need a big queue for IMU.
pgo_fused_sub = nh.subscribe("/d2pgo/swarm_fused", 1, &D2VINSNode::pgoSwarmFusedCallback, this, ros::TransportHints().tcpNoDelay());
"
but where does the "/d2pgo/swarm_fused" come from ? i cannot find who publishes this topic in project

[xuhao1]

@myboyhood This topic is published by D2PGO at this line
https://github.com/HKUST-Aerial-Robotics/D2SLAM/blob/main/d2pgo/src/d2pgo_node.cpp#L133
You should launch with enable_loop:=true enable_pgo:=true to enable this.