add imu sub

2021-04-07 19:19:35 +02:00
parent e9256c9903
commit 651dcdfb2f
37 changed files with 786 additions and 310 deletions
@@ -0,0 +1,16 @@
+<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>