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add imu sub

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This commit is contained in:
gfuse
2021-04-07 19:19:35 +02:00
parent e9256c9903
commit 651dcdfb2f
37 changed files with 786 additions and 310 deletions
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vio_svo/launch/Px30.launch
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<launch>
<node pkg="vio_svo" type="vo" name="vio" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/CoreNode/grey_img" type="str" />
<param name="imu_topic" value="/SensorNode/imu" type="str" />
<!-- Camera calibration file -->
<rosparam file="$(find vio_svo)/param/camera_pinhole.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find vio_svo)/param/px30.yaml" />
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="0.00" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
</node>
</launch>
vio_svo/launch/live.launch
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<launch>
<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" />
<!-- Camera calibration file -->
<rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
</node>
</launch>
vio_svo/launch/test.launch
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<launch>
<node pkg="vio_svo" type="vo" name="vio" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/camera/image_raw" type="str" />
<!-- Camera calibration file -->
<rosparam file="$(find vio_svo)/param/camera_atan.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find vio_svo)/param/vo_fast.yaml" />
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="3.14" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
</node>
</launch>