how to get the groundtruth in handheld dataset?

[Jiangqiming331]

I download the handheld.bag and run the code. I get the trajectory generated by lvi-sam,but how to get the groungtruth file?

[stale]

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[horaji30]

rtk

[sheldon-yezi]

I download the handheld.bag and run the code. I get the trajectory generated by lvi-sam,but how to get the groungtruth file?

rtk
Is it in the bag？ How can I get it.