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updated euroc_datasets.launch

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matlabbe
2018-08-14 13:01:07 -04:00
parent 2be81c3376
commit 5e6796d1cd
1 changed files with 21 additions and 1 deletions
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launch/tests/euroc_datasets.launch
+21 -1
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@@ -1,7 +1,27 @@
<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
-->
<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="rtabmapviz" default="true"/>
@@ -48,7 +68,7 @@
<!-- RTAB-Map -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --RGBD/CreateOccupancyGrid false --Rtabmap/DetectionRate 1"/>
<arg name="args" value="$(arg args)"/>
<arg name="stereo" value="true"/>
<arg name="frame_id" value="base_link"/>
<arg name="wait_for_transform" value="0.01"/>