{"action":"opened","issue":{"url":"https://api.github.com/repos/KumarRobotics/msckf_vio/issues/55","repository_url":"https://api.github.com/repos/KumarRobotics/msckf_vio","labels_url":"https://api.github.com/repos/KumarRobotics/msckf_vio/issues/55/labels{/name}","comments_url":"https://api.github.com/repos/KumarRobotics/msckf_vio/issues/55/comments","events_url":"https://api.github.com/repos/KumarRobotics/msckf_vio/issues/55/events","html_url":"https://github.com/KumarRobotics/msckf_vio/issues/55","id":364327534,"node_id":"MDU6SXNzdWUzNjQzMjc1MzQ=","number":55,"title":"Not publish at IMU rate?","user":{"login":"kyumanlee84","id":38770734,"node_id":"MDQ6VXNlcjM4NzcwNzM0","avatar_url":"https://avatars1.githubusercontent.com/u/38770734?v=4","gravatar_id":"","url":"https://api.github.com/users/kyumanlee84","html_url":"https://github.com/kyumanlee84","followers_url":"https://api.github.com/users/kyumanlee84/followers","following_url":"https://api.github.com/users/kyumanlee84/following{/other_user}","gists_url":"https://api.github.com/users/kyumanlee84/gists{/gist_id}","starred_url":"https://api.github.com/users/kyumanlee84/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kyumanlee84/subscriptions","organizations_url":"https://api.github.com/users/kyumanlee84/orgs","repos_url":"https://api.github.com/users/kyumanlee84/repos","events_url":"https://api.github.com/users/kyumanlee84/events{/privacy}","received_events_url":"https://api.github.com/users/kyumanlee84/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-09-27T06:47:31Z","updated_at":"2018-09-27T06:47:31Z","closed_at":null,"author_association":"NONE","body":"Hello, \r\n\r\nFirst, thanks for the open-source code.\r\n\r\nI have following questions:\r\n1. Does MSCKF publish odometry at image rate? Not at IMU rate? \r\n2. Does MSCKF publish odometry at the time when image was grabbed? Not real-time (or not at current time)?\r\n\r\nThe real-time high frequency VIO outputs might be crucial for UAV attitude control.\r\n\r\nThanks, "}}
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