23 lines
726 B
XML
23 lines
726 B
XML
<launch>
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<node pkg="vio_svo" type="vo" name="vio" clear_params="true" output="screen">
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<!-- Camera topic to subscribe to -->
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<param name="cam_topic" value="/CoreNode/grey_img" type="str" />
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<param name="imu_topic" value="/SensorNode/imu" type="str" />
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<!-- Camera calibration file -->
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<rosparam file="$(find vio_svo)/param/px30.yaml" />
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<!-- IMU 2 Camera Frame -->
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<param name="init_rx" value="1.88496" /><!-- 90 + 18 -->
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<param name="init_ry" value="0.0" /> <!-- 90 -->
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<param name="init_rz" value="0.0" /> <!-- 0 -->
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</node>
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<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
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<rosparam file="$(find vio_svo)/param/vo_fast.yaml" />
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</launch>
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