how to run libsurvive with verbose logging and changing poser to KalmanOnly

[carlmstott]

Hello!

Firstly I'd like to thank you for making this, it's been super useful!

I would like to run the isntance of libsurvive with the tags "-v --poser KalmanOnly" (verbose logging and using the KalmanOnly poser)

Ive tried changing line 43 in the launch file to:
{'driver_args': f'-v --force-recalibrate 1 -c {CFG_FILE}'},
to add -v to the libsurvive launch command but that hasn't worked.

Ive also tried changing the poser inside the config.json file to say: "poser":"KalmanOnly",

But the poser does not change to the KalmanOnly filter and the MPFIT poser is still used.

Do you know how I could launch libsurvive through your package with these specifications?

[asymingt]

Hey @carlmstott

Thanks for the appreciation ♥️ I have big plans to move the runtime filter used in libsurvive into GTSAM or PyPose, but until I have more time that idea is on on hold.

One thing to check first: are you running in docker? If so, the config.json might be copied over as part of the build stage and so you won't see your changes take effect until a rebuild