Output Odometry Frequency

[mikexyl]

Hi! Thank you for your amazing work, and I am trying to use kimera in my project. However I noticed the output odometry is only on around 5 hz, when I run the euroc example. is this expected? Can I turn it up?

rostopic hz /kimera_vio_ros/odometry
subscribed to [/kimera_vio_ros/odometry]
WARNING: may be using simulated time
average rate: 4.877
min: 0.181s max: 0.232s std dev: 0.01946s window: 5
average rate: 4.915
min: 0.181s max: 0.232s std dev: 0.01841s window: 10
average rate: 4.980
min: 0.173s max: 0.232s std dev: 0.01785s window: 15
average rate: 4.972
min: 0.173s max: 0.232s std dev: 0.01673s window: 20
average rate: 4.976
min: 0.173s max: 0.232s std dev: 0.01665s window: 25
average rate: 4.978
min: 0.171s max: 0.235s std dev: 0.01779s window: 30
^Caverage rate: 4.976
min: 0.171s max: 0.235s std dev: 0.01793s window: 32

I0330 21:15:24.024369 436275 KimeraVioRos.cpp:205] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 1243 9.4 {0.0 +- 0.0} [0.0, 16.0] 0.0
Mesher [ms] 622 4.7 {2.2 +- 1.5} [0.0, 10.0] 2.0
VioBackend [ms] 622 4.7 {6.5 +- 2.8} [0.0, 16.0] 8.0
VioFrontend Frame Rate [ms] 2069 15.4 {1.7 +- 0.8} [0.0, 14.0] 2.0
VioFrontend Keyframe Rate [ms] 621 4.7 {39.4 +- 7.7} [21.0, 85.0] 32.0
VioFrontend [ms] 2691 20.0 {10.4 +- 14.5} [0.0, 85.0] 2.0
Visualizer [ms] 622 4.7 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 622 4.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 2693 20.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_right_frame_queue Size [#] 2693 20.0 {1.0 +- 0.0} [1.0, 2.0] 1.0
display_input_queue Size [#] 1243 9.4 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 2691 20.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_backend Size [#] 622 4.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_frontend Size [#] 2691 20.0 {5.1 +- 12.5} [1.0, 83.0] 43.0
visualizer_backend_queue Size [#] 622 4.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 622 4.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_mesher_queue Size [#] 622 4.7 {1.0 +- 0.0} [1.0, 1.0] 1.0