22 lines
785 B
XML
22 lines
785 B
XML
<launch>
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<!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen"/ -->
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<!-- Camera topic to subscribe to -->
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<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
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<param name="vio/imu_topic" value="/SensorNode/imu" type="str" />
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<param name="vio/cmd_topic" value="/cmd_vel" type="str" />
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<param name="vio/start" value="/vio/start" type="str" />
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<param name="vio/stop" value="/vio/stop" type="str" />
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<param name="vio/getOdom" value="/vio/set_odom" type="str" />
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<!-- Camera calibration file -->
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<rosparam file="$(find vio)/param/px30.yaml" />
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<!-- /node -->
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<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
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<rosparam file="$(find vio)/param/vo_fast.yaml" />
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</launch>
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