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 +1,21 @@
+<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>