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2022-08-05 08:23:25 +03:00
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ov_init/launch/mle.launch Normal file
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<launch>
<!-- ================================================================ -->
<!-- ================================================================ -->
<!-- what config we are going to run (should match folder name) -->
<arg name="verbosity" default="DEBUG" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT -->
<arg name="config" default="rpng_sim" />
<arg name="config_path" default="$(find ov_init)/../config/$(arg config)/estimator_config.yaml" />
<arg name="seed" default="3" />
<arg name="freq_cam" default="10" />
<arg name="freq_imu" default="400" />
<arg name="dataset" default="euroc_V1_01_easy.txt" /> <!-- udel_gore, udel_gore_zupt, tum_corridor1_512_16_okvis, udel_arl, udel_neighborhood, euroc_V1_01_easy -->
<!-- if we should perturb the initial state values (i.e. calibration) -->
<arg name="sim_do_perturbation" default="false" />
<!-- if we should optimize the calibration -->
<arg name="mle_opt_calib" default="false" />
<!-- ================================================================ -->
<!-- ================================================================ -->
<!-- MASTER NODE! -->
<node name="test_dynamic_mle" pkg="ov_init" type="test_dynamic_mle" output="screen" clear_params="true" required="true">
<!-- <node name="test_dynamic_mle" pkg="ov_init" type="test_dynamic_mle" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run &#45;&#45;args">-->
<param name="sim_traj_path" type="string" value="$(find ov_data)/sim/$(arg dataset)" />
<param name="sim_seed_state_init" type="int" value="0" />
<param name="sim_seed_measurements" type="int" value="$(arg seed)" />
<param name="sim_seed_preturb" type="int" value="$(arg seed)" />
<param name="sim_freq_cam" type="int" value="$(arg freq_cam)" />
<param name="sim_freq_imu" type="int" value="$(arg freq_imu)" />
<param name="sim_do_perturbation" type="bool" value="$(arg sim_do_perturbation)" />
<!-- master configuration object -->
<param name="verbosity" type="string" value="$(arg verbosity)" />
<param name="config_path" type="string" value="$(arg config_path)" />
<!-- world/filter parameters -->
<param name="max_cameras" type="int" value="1" />
<param name="init_dyn_mle_opt_calib" type="bool" value="$(arg mle_opt_calib)" />
<param name="init_max_features" type="int" value="30" />
</node>
</launch>