78 lines
2.9 KiB
XML
78 lines
2.9 KiB
XML
<launch>
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<arg name="robot" default="firefly_sbx"/>
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<arg name="fixed_frame_id" default="world"/>
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<arg name="calibration_file"
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default="$(find msckf_vio)/config/camchain-imucam-tum.yaml"/>
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<!-- Image Processor Nodelet -->
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<include file="$(find msckf_vio)/launch/image_processor_tum.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="calibration_file" value="$(arg calibration_file)"/>
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</include>
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<!-- Msckf Vio Nodelet -->
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<group ns="$(arg robot)">
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<node pkg="nodelet" type="nodelet" name="vio"
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args='standalone msckf_vio/MsckfVioNodelet'
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output="screen">
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<!-- Photometry Flag-->
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<param name="PHOTOMETRIC" value="false"/>
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<!-- Debugging Flaggs -->
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<param name="StreamPause" value="true"/>
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<param name="PrintImages" value="true"/>
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<param name="GroundTruth" value="false"/>
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<param name="patch_size_n" value="5"/>
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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<param name="publish_tf" value="true"/>
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<param name="frame_rate" value="20"/>
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<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
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<param name="child_frame_id" value="odom"/>
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<param name="max_cam_state_size" value="20"/>
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<param name="position_std_threshold" value="8.0"/>
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<param name="rotation_threshold" value="0.2618"/>
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<param name="translation_threshold" value="0.4"/>
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<param name="tracking_rate_threshold" value="0.5"/>
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<!-- Feature optimization config -->
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<param name="feature/config/translation_threshold" value="-1.0"/>
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<!-- These values should be standard deviation -->
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<param name="noise/gyro" value="0.005"/>
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<param name="noise/acc" value="0.05"/>
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<param name="noise/gyro_bias" value="0.001"/>
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<param name="noise/acc_bias" value="0.01"/>
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<param name="noise/feature" value="0.035"/>
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<param name="initial_state/velocity/x" value="0.0"/>
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<param name="initial_state/velocity/y" value="0.0"/>
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<param name="initial_state/velocity/z" value="0.0"/>
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<!-- These values should be covariance -->
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<param name="initial_covariance/velocity" value="0.25"/>
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<param name="initial_covariance/gyro_bias" value="0.01"/>
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<param name="initial_covariance/acc_bias" value="0.01"/>
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<param name="initial_covariance/extrinsic_rotation_cov" value="3.0462e-4"/>
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<param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
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<param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
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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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<remap from="~features" to="image_processor/features"/>
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</node>
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</group>
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<!--node name="player" pkg="bagcontrol" type="control.py" /-->
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</launch>
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