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v1.launch
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v1.launch
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<?xml version="1.0"?>
<launch>
<arg name="gdb" default="false" />
<arg name="verbose" default="false" />
<arg name="gmm" default="true" />
<arg name="seq" default="V1_01_easy" />
<arg name="online" default="true" />
<arg name="viewer" default="true" />
<arg if="$(arg gdb)" name="prefix" value="gdb -ex run --args" />
<arg unless="$(arg gdb)" name="prefix" value="" />
<arg if="$(arg verbose)" name="args" value="-alsologtostderr -colorlogtostderr" />
<arg unless="$(arg verbose)" name="args" value="-alsologtostderr -colorlogtostderr --minloglevel=1" />
<include if="$(arg viewer)" file="$(find gmmloc_ros)/launch/viz.launch"/>
<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_br2" args="0 0 0 0.5 0.5 0.5 0.5 camera view" /> -->
<node name="gmmloc" pkg="gmmloc" type="gmmloc_node" args="$(arg args)" launch-prefix="$(arg prefix)" output="screen" clear_params="true">
<param name="dataset" value="euroc" />
<param name="vocabulary_path" value="$(find gmmloc_ros)/voc/ORBvoc.bin" />
<param name="output_path" value="$(find gmmloc_ros)/expr/" />
<param name="data_path" value="/PATH/TO/EUROC/DATASET/$(arg seq)/mav0/" />
<param name="gt_path" value="$(find gmmloc_ros)/data/gt_sync/$(arg seq).txt" />
<param name="online" value="$(arg online)" />
<param name="viewer" value="$(arg viewer)" />
<param name="gmm_path" value="$(find gmmloc_ros)/data/map/v1.gmm" />
<param name="rect_config" value="$(find gmmloc_ros)/cfg/euroc_rect.yaml" />
<rosparam command="load" file="$(find gmmloc_ros)/cfg/v1.yaml" />
</node>
</launch>