Ground Truth data

[y-hadj]

Hello, there appears to be 3 sources of publishing ground truth data :

1. According to Rviz's configuration files : Euroc's GT is published under /benchmark/odom and /benchmark/path yet Fla's GT is not configured as a topic there.
2. According to the bag files : Euroc's GT is published under /vicon/firefly_sbx/firefly_sbx and Fla's GT is published under /fla/gps/vel and fla/gps/fix.
3. According to the msckf_vio.cpp script : GT data is listened to from /mocap_odom and published under /gt_odom.

However, none of these topics appears to be active at execution time, except for the bag GT topics. So how do I find and exploit this GT data ?

Thank you in advance