17 lines
779 B
XML
17 lines
779 B
XML
<launch>
|
|
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" launch-prefix="gdb -ex run --args" output="screen">
|
|
<param name="cam_topic" value="/camera/image_raw" type="str" />
|
|
<param name="cam_model" value="ATAN" type="str" />
|
|
<param name="cam_width" value="752" />
|
|
<param name="cam_height" value="480" />
|
|
<param name="cam_fx" value="0.509326" />
|
|
<param name="cam_fy" value="0.796651" />
|
|
<param name="cam_cx" value="0.459051" />
|
|
<param name="cam_cy" value="0.510056" />
|
|
<param name="cam_d0" value="0.93207" />
|
|
<param name="init_rx" value="3.14" />
|
|
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
|
|
</node>
|
|
<node name="svo_ros_rviz" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" />
|
|
</launch>
|