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fixed vector size mismatch between matched and status vectors

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admin1
2022-08-22 11:28:34 +03:00
commit 1b13777c36
177 changed files with 25221 additions and 0 deletions
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34
loop_fusion/launch/posegraph.launch Normal file
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<launch>
<arg name="config_path" default="$(find loop_fusion)/../config/master_config.yaml" />
<node name="loop_fusion_node" pkg="loop_fusion" type="loop_fusion_node" output="screen" args="$(arg config_path)" required="true">
<!-- <node name="loop_fusion_node" pkg="loop_fusion" type="loop_fusion_node" output="screen" args="$(arg config_path)" required="true" launch-prefix="gdb -ex run &#45;&#45;args">-->
<!-- INPUT: keyframe poses / marginalized poses -->
<remap from="/cam0/image_raw" to="/stereo/left/image_raw"/>
<remap from="/vins_estimator/extrinsic" to="/ov_msckf/loop_extrinsic"/>
<remap from="/vins_estimator/keyframe_point" to="/ov_msckf/loop_feats"/>
<remap from="/vins_estimator/keyframe_pose" to="/ov_msckf/odomimu"/>
<remap from="/vins_estimator/intrinsics" to="/ov_msckf/loop_intrinsics"/>
<!-- INPUT: current system pose and points -->
<remap from="/vins_estimator/pose" to="/ov_msckf/poseimu"/>
<!--<remap from="/vins_estimator/odometry" to="invalid1"/>-->
<!--<remap from="/vins_estimator/margin_cloud" to="invalid2"/>-->
<!-- OUTPUT: visualization topics -->
<remap from="/loop_fusion_node/match_image" to="/ov_secondary/match_image"/>
<remap from="/loop_fusion_node/pose_rect" to="/ov_secondary/poseimu"/>
<remap from="/loop_fusion_node/odometry_rect" to="/ov_secondary/odomimu"/>
</node>
</launch>