add launch for field tests

P3TE · Jul 22, 2020 · d36a404 · d36a404
1 parent 747efb4
commit d36a404
Showing 1 changed file with 26 additions and 0 deletions.
diff --git a/viso2_ros/launch/field_tests.launch b/viso2_ros/launch/field_tests.launch
@@ -0,0 +1,26 @@
+<launch>
+
+  <arg name="camera" default="/stereo_down/left"/>
+
+  <!-- Republishes the compressed topic so it can be used to image_proc node -->
+  <node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=$(arg camera)/image raw out:=$(arg camera)/image_raw" />
+
+  <!-- Run image proc -->
+  <node ns="$(arg camera)" pkg="image_proc" type="image_proc" name="image_proc" />
+
+  <node pkg="tf" type="static_transform_publisher" name="odom_to_map" args="0 0 0 0 -1.57079632679 -1.57079632679 visual_odom map 30"/>
+
+  <!-- Viso2 -->
+  <node pkg="viso2_ros" type="mono_odometer" name="mono_odometer" output="screen">
+    <remap from="image" to="$(arg camera)/image_rect"/>
+    <remap from="altitude" to="/turbot/navigator/altitude_filtered"/>
+    <param name="base_link_frame_id" value="$(arg camera)"/>
+    <param name="odom_frame_id" value="visual_odom"/>
+
+    <param name="max_features" value="10" />
+    <param name="motion_threshold" value="350" />
+    <param name="camera_height" value="2.1" />
+    <param name="camera_pitch"  value="0.00" />
+  </node>
+
+</launch>