Velocity not published as part of odom, Odom rate control?

[pratro]

I setup GLIM using the PPA method from the installation page and ran the ros node with test data.
I see twist.twist.linear and twist.twist.angular both being published as 0,0,0

Also I was wondering how to output the odom message at the IMU rate, since I assume that would be available?

[koide3]

I just pushed a patch to publish estimated velocity koide3/glim_ros2#44, which will be merged into the main branch soon.

While GLIM does not support IMU rate pose estimation, I think you can easily implement simple IMU-based forward prediction using NavState in GTSAM.