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mr_euroc.launch
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mr_euroc.launch
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<launch>
<arg name="config_path" default = "$(find air_slam)/configs/map_refinement/mr_euroc.yaml" />
<arg name="map_root" default = "$(find air_slam)/debug/test" />
<arg name="model_dir" default = "$(find air_slam)/output" />
<arg name="voc_path" default = "$(find air_slam)/voc/point_voc_L4.bin" />
<arg name="breakpoint" default="0"/>
<node name="map_refinement" pkg="air_slam" type="map_refinement" output="screen">
<param name="config_path" type="string" value="$(arg config_path)" />
<param name="map_root" type="string" value="$(arg map_root)" />
<param name="model_dir" type="string" value="$(arg model_dir)" />
<param name="voc_path" type="string" value="$(arg voc_path)" />
<param name="breakpoint" type="int" value="$(arg breakpoint)" />
</node>
<arg name="visualization" default="true" />
<group if="$(arg visualization)">
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find air_slam)/rviz/map_optimization.rviz" output="screen" />
</group>
</launch>