How to Set Up ORB-SLAM3 Monocular-Inertial Mode for AWSIM

[tsyhuuuu]

Hi, I'm currently working on integrating ORB-SLAM3 with the AWSIM environment using ROS2. I've been struggling to configure the YAML file for monocular-inertial mode and am unsure about the appropriate values for the following parameters.

%YAML:1.0

# Camera Parameters. Adjust them!
Camera.type: "PinHole"
Camera.fx: 382.613
Camera.fy: 382.613
Camera.cx: 320.183
Camera.cy: 236.455
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
…

# Transformation from camera to body-frame (imu)
Tbc: !!opencv-matrix
   rows: 4
   cols: 4
   dt: f
   data: [0.0, 1.0, 0.0, -0.0175,
          1.0, 0.0, 0.0, -0.02,
          0.0, 0.0, -1.0, 0.01,
          0.0, 0.0, 0.0, 1.0]

# IMU noise
IMU.NoiseGyro: 2.8652e-8
IMU.NoiseAcc: 2.1244e-7
IMU.GyroWalk: 1.9393e-8
IMU.AccWalk: 2.9273e-8
IMU.Frequency: 200
…

I've tried for several days but still have no idea how to adjust these parameters correctly for use in AWSIM. Any guidance or suggested adjustments would be greatly appreciated.