optimize the visualizer

2021-04-05 18:41:37 +02:00
parent da17901faa
commit e9256c9903
5 changed files with 62 additions and 308 deletions
@@ -0,0 +1,21 @@
+<launch>
+
+  <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
+
+    <!-- Camera topic to subscribe to -->
+    <param name="cam_topic" value="/CoreNode/grey_img" type="str" />
+    
+    <!-- Camera calibration file -->
+    <rosparam file="$(find svo_ros)/param/camera_pinhole.yaml" />
+
+    <!-- Default parameter settings: choose between vo_fast and vo_accurate -->
+    <rosparam file="$(find svo_ros)/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>