Is it impossible to ensure that the two sensors are aligned

[wangni-bupt]

I found that both vo and gnss only ensure the alignment of imu with vo or gnss during initialization, and then completely depend on whether ros nodes receive data for processing

'''
if (!ekf_ptr_->inited_) {
if (!ekf_ptr_->init(gps_data_ptr->timestamp)) return;

std::dynamic_pointer_cast<GNSS>(ekf_ptr_->observer_ptr_)->set_params(gps_data_ptr);

printf("[cggos %s] System initialized.\n", __FUNCTION__);

return;

}
'''

[wangni-bupt]

I didn't run it, just read the source code and would like to ask about this section if it's convenient for you