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viso2 needs rectified images, so first you should calibrate your camera and run the node called image_proc. After that, you can subscribe viso2_ros mono_odometer to your rectified camera.

sensor_msgs/Image is the type of message, and /front_cam/camera/image is the topic of the message. Viso2 expects this same kind of message, but in the topic /image. That's why you have to remap it to your particular topic.

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