35 lines
1.1 KiB
XML
35 lines
1.1 KiB
XML
<launch>
|
|
|
|
<arg name="robot" default="firefly_sbx"/>
|
|
<arg name="calibration_file"
|
|
default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/>
|
|
|
|
<!-- Image Processor Nodelet -->
|
|
<group ns="$(arg robot)">
|
|
<node pkg="nodelet" type="nodelet" name="image_processor"
|
|
args="standalone msckf_vio/ImageProcessorNodelet"
|
|
output="screen"
|
|
>
|
|
|
|
<rosparam command="load" file="$(arg calibration_file)"/>
|
|
<param name="grid_row" value="4"/>
|
|
<param name="grid_col" value="4"/>
|
|
<param name="grid_min_feature_num" value="5"/>
|
|
<param name="grid_max_feature_num" value="10"/>
|
|
<param name="pyramid_levels" value="3"/>
|
|
<param name="patch_size" value="15"/>
|
|
<param name="fast_threshold" value="10"/>
|
|
<param name="max_iteration" value="30"/>
|
|
<param name="track_precision" value="0.01"/>
|
|
<param name="ransac_threshold" value="3"/>
|
|
<param name="stereo_threshold" value="5"/>
|
|
|
|
<remap from="~imu" to="/imu0"/>
|
|
<remap from="~cam0_image" to="/cam0/image_raw"/>
|
|
<remap from="~cam1_image" to="/cam1/image_raw"/>
|
|
|
|
</node>
|
|
</group>
|
|
|
|
</launch>
|