53 lines
2.5 KiB
XML
53 lines
2.5 KiB
XML
<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="tum_corridor1_512_16_okvis.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="true" />
|
|
|
|
<!-- if we should optimize the calibration -->
|
|
<arg name="mle_opt_calib" default="false" />
|
|
|
|
|
|
<!-- ================================================================ -->
|
|
<!-- ================================================================ -->
|
|
|
|
|
|
<!-- MASTER NODE! -->
|
|
<!-- <node name="test_dynamic_init" pkg="ov_init" type="test_dynamic_init" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run --args">-->
|
|
<node name="test_dynamic_init" pkg="ov_init" type="test_dynamic_init" output="screen" clear_params="true" required="true">
|
|
|
|
<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)" />
|
|
|
|
</node>
|
|
|
|
|
|
|
|
</launch>
|