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2022-08-05 08:23:25 +03:00
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ov_eval/launch/record.launch Normal file
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<launch>
<!-- what ros bag to play -->
<arg name="bag_name" default="merged" />
<arg name="bag_path" default="/home/pi/work_drivecast/datasets/complex_urban_dataset/urban32-yeouido/bag2" />
<!-- where to save the recorded poses -->
<arg name="path_save" default="/home/pi/workspace/catkin_ws_ov/src/open_vins/ov_data/" />
<!-- record the trajectory -->
<!-- <node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen" required="true">
<param name="topic" type="str" value="/ov_msckf/poserec" />
<param name="topic_type" type="str" value="PoseStamped" />
<param name="output" type="str" value="$(arg path_save)$(arg bag_name).txt" />
</node> -->
<node name="live_align_trajectory" pkg="ov_eval" type="live_align_trajectory" output="screen" required="true">
<param name="alignment_type" type="str" value="posyaw" />
<param name="path_gt" type="str" value="/home/pi/workspace/catkin_ws_ov/src/open_vins/ov_data/merged.txt" />
<param name="verbosity" type="str" value="DEBUG" />
</node>
<!-- play the dataset -->
<!-- <node pkg="rosbag" type="play" name="rosbag" args="-r 1 $(arg bag_path)/$(arg bag_name).bag" required="true"/> -->
</launch>