Added euroc_datasets.launch file

launch/calibration/euroc_left.yaml

@@ -0,0 +1,30 @@
+#%YAML:1.0
+---
+camera_name: MH_01_easy_left
+image_width: 752
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
+       4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
+       1.9358999999999999e-04, 1.7618711400000001e-05 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
+       8.0795831104762770e-03, 1.3657459036274155e-03,
+       9.9997417608074302e-01, 7.0556296505566432e-03,
+       -8.0894128132919258e-03, -7.0443575534647465e-03,
+       9.9994246755850658e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
+       4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
+       0. ]

launch/calibration/euroc_right.yaml

@@ -0,0 +1,30 @@
+#%YAML:1.0
+---
+camera_name: MH_01_easy_right
+image_width: 752
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
+       4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
+       -1.0473000000000000e-04, -3.5559070000000001e-05 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
+       7.7554468926514068e-03, 3.6804026836554193e-03,
+       9.9996847525904631e-01, -7.0358456623254633e-03,
+       -7.7296917225483383e-03, 7.0641309842873097e-03,
+       9.9994517345668066e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
+       -4.7906395664848930e+01, 0., 4.3520469597145990e+02,
+       2.5220085144042969e+02, 0., 0., 0., 1., 0. ]

launch/tests/euroc_datasets.launch

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+<launch>
+
+<param name="use_sim_time" value="true"/>
+
+<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"/>
+    <remap from="image" to="/cam1/image_raw"/>
+    <remap from="camera_info" to="right/camera_info"/>
+  </node>
+
+  <node 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>
+
+<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0.009811 0.064677 -0.021640 -1.596576 -0.014866 -1.566656 base_link cam0 100"/>  
+<node 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 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>
+
+<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
+   <arg name="rtabmap_args" value="--delete_db_on_start --RGBD/CreateOccupancyGrid false --Rtabmap/DetectionRate 1"/>
+   <arg name="stereo" value="true"/>
+   <arg name="frame_id" value="base_link"/>
+   <arg name="ground_truth_frame_id" value="world"/>
+   <arg name="ground_truth_base_frame_id" value="base_link_gt"/>
+</include>
+
+</launch>