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Fixing internal VINS-fusion not in par to external vins fusion (#911)

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matlabbe
2025-09-14 23:46:16 +00:00
parent 3fa20f56fb
commit 3d827e002d
1 changed files with 6 additions and 1 deletions
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rtabmap_examples/launch/euroc_datasets.launch
+6 -1
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@@ -108,13 +108,13 @@ Examples:
<param name="use_mag" value="false"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
<param name="do_bias_estimation" value="false"/> <!-- Do not modify angular velocity! -->
</node>
<!-- RTAB-Map -->
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg if="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args) --Rtabmap/ImagesAlreadyRectified false"/>
<arg unless="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args)"/>
<arg if="$(arg raw_images_for_odom)" name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
<arg if="$(arg raw_images_for_odom)" name="left_image_topic" value="/cam0/image_raw"/>
<arg unless="$(arg raw_images_for_odom)" name="left_image_topic" value="/stereo_camera/left/image_rect"/>
<arg if="$(arg raw_images_for_odom)" name="right_image_topic" value="/cam1/image_raw"/>
@@ -128,6 +128,11 @@ Examples:
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="wait_imu_to_init" value="true"/>
<!-- Dataset: We don't care about latency, but we care about processing all data -->
<arg name="topic_queue_size" value="100"/>
<arg name="sync_queue_size" value="100"/>
<arg name="odom_always_process_most_recent_frame" value="false"/>
</include>
</launch>