kimera_vio_ros_euroc.launch

<launch>
  <arg name="dataset_name" default="Euroc"/>
  <arg name="verbosity"    default="0" />
  <arg name="do_coarse_temporal_sync" default="false"/>
  <arg name="do_fine_temporal_sync" default="false"/>

  <!-- Set online to true if you use rosbag play or sensor stream -->
  <arg name="online" default="false" />
  <!-- Set use_sim_time to true if you use rosbag with clock argument -->
  <param name="use_sim_time" value="true"/>
  <!-- Set log_output to true and KimeraVIO will log output of all modules to
       the log_output_path location. -->
  <arg name="log_output" default="false"/>
  <arg name="log_output_path"
    default="$(find kimera_vio_ros)/output_logs/$(arg dataset_name)"
       if="$(arg log_output)"/>
  <!-- Set to true and specify gt_topic if you want to log ground-truth data -->
  <arg name="log_gt_data" default="false"/>
  <arg name="gt_topic" default=""/>

  <rosparam param="gt_gyro_bias"> [-0.002229, 0.0207, 0.07635] </rosparam>
  <rosparam param="gt_accel_bias"> [-0.012492, 0.547666, 0.069073] </rosparam>

  <arg name="use_lcd"           default="false"/>
  <arg name="use_external_odom" default="false"/>
  <arg name="visualize"         default="true"/>

  <!-- Change rosbag path if online argument is false -->
  <arg name="rosbag_path" default=""
    unless="$(arg online)"/>

  <!-- Frame IDs -->
  <arg name="base_link_frame_id" value="base_link"/>
  <arg name="left_cam_frame_id"  value="cam0"/>
  <arg name="right_cam_frame_id" value="cam1"/>

  <arg name="left_cam_topic"      default="/cam0/image_raw"/>
  <arg name="right_cam_topic"     default="/cam1/image_raw"/>
  <arg name="imu_topic"           default="/imu0"/>
  <arg name="external_odom_topic" default=""/>

  <!-- Perform stereo dense reconstruction? -->
  <arg name="run_stereo_dense"     default="false"/>
  <group ns="stereo_gray" if="$(arg run_stereo_dense)">
    <!-- StereoSGBM -->
    <node name="dense_stereo" pkg="image_undistort" type="dense_stereo_node" >
      <param name="input_camera_info_from_ros_params" value="true"/>
      <param name="first_camera_namespace"  value="cam0"/>
      <param name="second_camera_namespace" value="cam1"/>
      <param name="first_output_frame"      value="cam0"/>
      <param name="second_output_frame"     value="cam1"/>

      <param name="depth/use_sgbm"          value="true"/>
      <param name="depth/do_median_blur"    value="false"/>
      <param name="depth/use_mode_HH"       value="true"/>

      <param name="scale"                   value="1.0"/>
      <param name="process_every_nth_frame" value="1"/>
      <param name="publish_tf"              value="false"/>

      <rosparam file="$(find kimera_vio_ros)/cfg/calib/euroc_camchain.yaml"/>

      <remap from="raw/first/image"         to="/cam0/image_raw"/>
      <remap from="raw/second/image"        to="/cam1/image_raw"/>
      <remap from="raw/first/camera_info"   to="/cam0/camera_info"/>
      <remap from="raw/second/camera_info"  to="/cam1/camera_info"/>
    </node>
  </group>

  <!-- Launch actual pipeline -->
  <include file="$(find kimera_vio_ros)/launch/kimera_vio_ros.launch"
    pass_all_args="true"/>
</launch>