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added comments to launchfile

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This commit is contained in:
Christian Forster
2014-03-12 19:25:08 +01:00
parent 3c65f67676
commit 2d24e002f2
1 changed files with 15 additions and 10 deletions
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svo_ros/launch/test_rig3.launch
+15 -10
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@@ -1,16 +1,21 @@
<launch>
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" launch-prefix="gdb -ex run --args" output="screen">
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/camera/image_raw" type="str" />
<param name="cam_model" value="ATAN" type="str" />
<param name="cam_width" value="752" />
<param name="cam_height" value="480" />
<param name="cam_fx" value="0.509326" />
<param name="cam_fy" value="0.796651" />
<param name="cam_cx" value="0.459051" />
<param name="cam_cy" value="0.510056" />
<param name="cam_d0" value="0.93207" />
<param name="init_rx" value="3.14" />
<!-- Camera calibration file -->
<rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
<!-- Default parameter settings -->
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="3.14" />
</node>
<node name="svo_ros_rviz" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" />
</launch>