rtabmap_ros/launch/tests/euroc_datasets.launch

<launch>

<!-- 
Examples:
   F2M (default VO):
      $ roslaunch rtabmap_ros euroc_datasets.launch
      $ rosbag play -.-clock V1_01_easy.bag

      For MH sequences, we should set MH_seq to true because the ground truth source is different.
      $ roslaunch rtabmap_ros euroc_datasets.launch MH_seq:=true
      $ rosbag play -.-clock MH_01_easy.bag

   MSCKF (VIO):
      $ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 8"
      $ rosbag play -.-clock V1_01_easy.bag

      We need to ignore the first 24 seconds for correct VIO initialization (drone should not move).
      $ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 8" MH_seq:=true
      $ rosbag play -.-clock -s 24 MH_01_easy.bag

   OKVIS (VIO):
      $ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 6 OdomOKVIS/ConfigPath ~/okvis/config/config_fpga_p2_euroc.yaml" MH_seq:=true raw_images_for_odom:=true
      $ rosbag play -.-clock MH_01_easy.bag

   VINS (VIO):
      $ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true
      $ rosbag play -.-clock MH_01_easy.bag

   VINS (VO):
      $ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true
      $ rosbag play -.-clock MH_01_easy.bag
-->

<param name="use_sim_time" value="true"/>

<arg name="args" default="-d --RGBD/CreateOccupancyGrid false"/>
<arg name="cfg" default=""/>
<arg name="MH_seq" default="false"/> <!-- For MH sequences, the ground truth is coming from a different topic -->
<arg name="raw_images_for_odom" default="false"/>
<arg name="record_ground_truth" default="false"/>
<arg name="rtabmapviz" default="true"/>
<arg name="rviz" default="false"/>

<!-- Image rectification and publishing synchronized camera_info-->
<group ns="stereo_camera">

  <node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_left">
    <param name="yaml_path" value="$(find rtabmap_ros)/launch/calibration/euroc_left.yaml"/>
    <remap from="image" to="/cam0/image_raw"/>
    <remap from="camera_info" to="left/camera_info"/>
  </node>
  <node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_right">
    <param name="yaml_path" value="$(find rtabmap_ros)/launch/calibration/euroc_right.yaml"/>
    <param name="frame_id" value="cam1"/>
    <remap from="image" to="/cam1/image_raw"/>
    <remap from="camera_info" to="right/camera_info"/>
  </node>

  <node unless="$(arg raw_images_for_odom)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
    <remap from="left/image_raw"    to="/cam0/image_raw"/>
    <remap from="right/image_raw"   to="/cam1/image_raw"/>
  </node>

</group>

<!-- TF frames -->
<node pkg="tf" type="static_transform_publisher" name="imu_base_link" args="0 0 0 3.1415926 -1.570796 0 base_link imu4 5"/>
<node pkg="tf" type="static_transform_publisher" name="cam0_imu_link" args="-0.021640 -0.064677 0.009811 1.555925 0.025777 0.003757 imu4 cam0 50"/>
<node pkg="tf" type="static_transform_publisher" name="cam1_imu_link" args="-0.019844 0.045369 0.007862 1.558237 0.025393 0.017907 imu4 cam1 50"/>  
<node     if="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="leica_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 leica base_link_gt 100"/> 
<node unless="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="vicon_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 vicon/firefly_sbx/firefly_sbx base_link_gt 100"/>

<node     if="$(arg MH_seq)" pkg="rtabmap_ros" type="point_to_tf.py" name="point_to_tf">
  <remap from="point" to="/leica/position"/>
  <param name="frame_id" value="leica"/>
  <param name="fixed_frame_id" value="world"/>
</node>
<node unless="$(arg MH_seq)" pkg="rtabmap_ros" type="transform_to_tf.py" name="transform_to_tf">
  <remap from="transform" to="/vicon/firefly_sbx/firefly_sbx"/>
  <param name="frame_id" value="world"/>
  <param name="child_frame_id" value="vicon/firefly_sbx/firefly_sbx"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />

<!-- RTAB-Map -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
   <arg     if="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg args) --Rtabmap/ImagesAlreadyRectified false"/>
   <arg unless="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg args)"/>
   <arg     if="$(arg raw_images_for_odom)" name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
   <arg     if="$(arg raw_images_for_odom)" name="left_image_topic" value="/cam0/image_raw"/>
   <arg     if="$(arg raw_images_for_odom)" name="right_image_topic" value="/cam1/image_raw"/>
   <arg name="stereo" value="true"/>
   <arg name="frame_id" value="base_link"/>
   <arg name="wait_for_transform" value="0.01"/>
   <arg if="$(arg record_ground_truth)" name="ground_truth_frame_id" value="world"/>
   <arg if="$(arg record_ground_truth)" name="ground_truth_base_frame_id" value="base_link_gt"/>
   <arg name="cfg" value="$(arg cfg)"/>
   <arg name="imu_topic" value="/imu0"/>
   <arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
   <arg name="rviz" value="$(arg rviz)"/>
</include>

</launch>