23 lines
720 B
XML
23 lines
720 B
XML
<launch>
|
|
|
|
<node pkg="vio_svo" type="vo" name="vio" clear_params="true" output="screen">
|
|
|
|
<!-- Camera topic to subscribe to -->
|
|
<param name="cam_topic" value="/CoreNode/grey_img" type="str" />
|
|
<param name="imu_topic" value="/SensorNode/imu" type="str" />
|
|
|
|
<!-- Camera calibration file -->
|
|
<rosparam file="$(find vio_svo)/param/px30.yaml" />
|
|
|
|
<!-- Initial camera orientation, make it point downwards -->
|
|
<param name="init_rx" value="-2.35619" />
|
|
<param name="init_ry" value="0.00" />
|
|
<param name="init_rz" value="0.00" />
|
|
|
|
</node>
|
|
|
|
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
|
|
<rosparam file="$(find vio_svo)/param/vo_fast.yaml" />
|
|
|
|
</launch>
|