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