26 lines
876 B
XML
26 lines
876 B
XML
<launch>
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<node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
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<param name="cam_topic" value="/camera/image_raw" type="str" />
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<rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
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<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
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<param name="map_scale" value="0.5" />
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<param name="init_rx" value="3.14" />
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<param name="publish_img_pyr_level" value="0" />
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<param name="publish_every_nth_img" value="1" />
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<param name="accept_console_user_input" value="True" />
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<param name="publish_dense_input" value="True" />
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<param name="publish_every_nth_dense_input" value="5" />
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</node>
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<!--
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<node pkg="image_view" type="image_view" name="image_svo">
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<remap from="image" to="/svo/image" />
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</node>
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-->
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</launch>
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