{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/kalibr/issues/14","repository_url":"https://api.github.com/repos/ethz-asl/kalibr","labels_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/14/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/14/comments","events_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/14/events","html_url":"https://github.com/ethz-asl/kalibr/issues/14","id":42213418,"number":14,"title":"Wiki page \"Yaml formats\" does not mention rostopic field for IMU config","user":{"login":"pkok","id":796950,"avatar_url":"https://avatars.githubusercontent.com/u/796950?v=3","gravatar_id":"","url":"https://api.github.com/users/pkok","html_url":"https://github.com/pkok","followers_url":"https://api.github.com/users/pkok/followers","following_url":"https://api.github.com/users/pkok/following{/other_user}","gists_url":"https://api.github.com/users/pkok/gists{/gist_id}","starred_url":"https://api.github.com/users/pkok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pkok/subscriptions","organizations_url":"https://api.github.com/users/pkok/orgs","repos_url":"https://api.github.com/users/pkok/repos","events_url":"https://api.github.com/users/pkok/events{/privacy}","received_events_url":"https://api.github.com/users/pkok/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2014-09-08T16:08:44Z","updated_at":"2016-11-25T07:31:38Z","closed_at":null,"body":"The [wiki page describing the YAML formats](https://github.com/ethz-asl/kalibr/wiki/yaml-formats) describes all required fields for the YAML files except for `rostopic` for the IMU configuration. \n\nDuring a run of `rosrun kalibr kalibr_calibrate_imu_camera --time-calibration --bag some.bag --cam cam_config.yaml --imu imu_config.yaml --target target_config.yaml` I get the output:\n\n```\nimporting libraries\nInitializing IMUs:\n  Update rate: 100\n  Accelerometer:\n    Noise density: 0.004 \n    Noise density (discrete): 0.04 \n    Random walk: 0.02\n  Gyroscope:\n    Noise density: 0.1\n    Noise density (discrete): 1.0 \n    Random walk: 1.0\nTraceback (most recent call last):\n  File \"/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera\", line 206, in <module>\n    main()\n  File \"/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera\", line 138, in main\n    imus.append( sens.IccImu(imuConfig, parsed) )\n  File \"/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py\", line 511, in __init__\n    self.dataset = initImuBagDataset(parsed.bagfile[0], imuConfig.getRosTopic(), parsed.bag_from_to)\n  File \"/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py\", line 123, in func\n    args[0].raiseError(\"Field {0} missing in file: {1}\".format(e, args[0].yamlFile))\n  File \"/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py\", line 169, in raiseError\n    raise RuntimeError( \"{0}{1}\".format(header, message) )\nRuntimeError: [ImuConfig Reader]: Field 'rostopic' missing in file: repos/kalibr/config/imu/MTx.yaml\n```\n\nAdding a field `rostopic` in `imu_config.yaml` which refers to a topic with message type `sensor_msgs/Imu` resolves this error.\n\n_Suggested solution:_ Add some documentation about this field in [Yaml formats](https://github.com/ethz-asl/kalibr/wiki/yaml-formats).\n"},"comment":{"url":"https://api.github.com/repos/ethz-asl/kalibr/issues/comments/262896183","html_url":"https://github.com/ethz-asl/kalibr/issues/14#issuecomment-262896183","issue_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/14","id":262896183,"user":{"login":"sunbinbin1991","id":15342883,"avatar_url":"https://avatars.githubusercontent.com/u/15342883?v=3","gravatar_id":"","url":"https://api.github.com/users/sunbinbin1991","html_url":"https://github.com/sunbinbin1991","followers_url":"https://api.github.com/users/sunbinbin1991/followers","following_url":"https://api.github.com/users/sunbinbin1991/following{/other_user}","gists_url":"https://api.github.com/users/sunbinbin1991/gists{/gist_id}","starred_url":"https://api.github.com/users/sunbinbin1991/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sunbinbin1991/subscriptions","organizations_url":"https://api.github.com/users/sunbinbin1991/orgs","repos_url":"https://api.github.com/users/sunbinbin1991/repos","events_url":"https://api.github.com/users/sunbinbin1991/events{/privacy}","received_events_url":"https://api.github.com/users/sunbinbin1991/received_events","type":"User","site_admin":false},"created_at":"2016-11-25T07:31:38Z","updated_at":"2016-11-25T07:31:38Z","body":" I have same problem,then add\"rostopic: /imu0\" in imu.yaml ,it's ok."}}
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