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matlabbe
2023-01-21 16:19:25 -08:00
parent c204ed6142
commit 72298712c9
91 changed files with 1092 additions and 1026 deletions
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launch/tests/euroc_datasets.launch
+5 -4
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@@ -1,6 +1,7 @@
<?xml version="1.0"?>
<launch>
<!--
<!--
Examples:
F2M (default VO):
$ roslaunch rtabmap_ros euroc_datasets.launch
@@ -72,10 +73,10 @@ Examples:
<!-- 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 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"/>
<!-- For MH sequences, /leica/position doesn't give the orientation, so minimal ground truth error could be as high as 12 cm -->
<node if="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="leica_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 leica base_link_gt 100"/>
<node if="$(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="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="vicon_base_link" args="0.12395 -0.02781 -0.06901 0 0 0 vicon/firefly_sbx/firefly_sbx base_link_gt 100"/>
<node if="$(arg MH_seq)" pkg="rtabmap_ros" type="point_to_tf.py" name="point_to_tf">
@@ -95,7 +96,7 @@ Examples:
<param name="use_mag" value="false"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
</node>
</node>
<!-- RTAB-Map -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">