23 lines
722 B
XML
23 lines
722 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="/camera/image_raw" 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="$(find vio_svo)/param/camera_atan.yaml" />
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<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
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<rosparam file="$(find vio_svo)/param/vo_fast.yaml" />
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<!-- Initial camera orientation, make it point downwards -->
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<param name="init_rx" value="3.14" />
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<param name="init_ry" value="0.00" />
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<param name="init_rz" value="0.00" />
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</node>
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</launch>
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