34 lines
1.5 KiB
XML
34 lines
1.5 KiB
XML
<launch>
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<arg name="config_path" default="$(find loop_fusion)/../config/master_config.yaml" />
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<node name="loop_fusion_node" pkg="loop_fusion" type="loop_fusion_node" output="screen" args="$(arg config_path)" required="true">
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<!-- <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 --args">-->
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<!-- INPUT: keyframe poses / marginalized poses -->
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<remap from="/cam0/image_raw" to="/stereo/left/image_raw"/>
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<remap from="/vins_estimator/extrinsic" to="/ov_msckf/loop_extrinsic"/>
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<remap from="/vins_estimator/keyframe_point" to="/ov_msckf/loop_feats"/>
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<remap from="/vins_estimator/keyframe_pose" to="/ov_msckf/odomimu"/>
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<remap from="/vins_estimator/intrinsics" to="/ov_msckf/loop_intrinsics"/>
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<!-- INPUT: current system pose and points -->
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<remap from="/vins_estimator/pose" to="/ov_msckf/poseimu"/>
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<!--<remap from="/vins_estimator/odometry" to="invalid1"/>-->
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<!--<remap from="/vins_estimator/margin_cloud" to="invalid2"/>-->
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<!-- OUTPUT: visualization topics -->
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<remap from="/loop_fusion_node/match_image" to="/ov_secondary/match_image"/>
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<remap from="/loop_fusion_node/pose_rect" to="/ov_secondary/poseimu"/>
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<remap from="/loop_fusion_node/odometry_rect" to="/ov_secondary/odomimu"/>
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</node>
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</launch> |