2018-01-08 20:41:37 +01:00
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<launch>
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<arg name="robot" default="firefly_sbx"/>
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<arg name="calibration_file"
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default="$(find msckf_vio)/config/camchain-imucam-euroc.yaml"/>
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<!-- Image Processor Nodelet -->
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<group ns="$(arg robot)">
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<node pkg="nodelet" type="nodelet" name="image_processor"
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args="standalone msckf_vio/ImageProcessorNodelet"
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2019-04-10 18:35:26 +02:00
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output="screen"
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>
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2018-01-08 20:41:37 +01:00
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<rosparam command="load" file="$(arg calibration_file)"/>
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<param name="grid_row" value="4"/>
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<param name="grid_col" value="5"/>
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<param name="grid_min_feature_num" value="3"/>
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<param name="grid_max_feature_num" value="4"/>
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<param name="pyramid_levels" value="3"/>
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<param name="patch_size" value="15"/>
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<param name="fast_threshold" value="10"/>
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<param name="max_iteration" value="30"/>
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<param name="track_precision" value="0.01"/>
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<param name="ransac_threshold" value="3"/>
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<param name="stereo_threshold" value="5"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~cam0_image" to="/cam0/image_raw"/>
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<remap from="~cam1_image" to="/cam1/image_raw"/>
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</node>
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</group>
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</launch>
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