kitti_dataset.launch

<?xml version="1.0" encoding="ISO-8859-15"?>
<launch>
  <arg name="play_bag" default="true" />
  <!-- <arg name="bag_file" default="/path/to/drive35.bag"/> -->
  <arg name="process_every_nth_frame" default="1" />
  <arg name="voxel_size" default="0.25" />
  <arg name="scale" default="0.25" />
  <!-- whether to use laser (true) or stereo (false) for the map. -->
  <arg name="use_laser" default="true" />

  <!-- These datasets can be created with the KITTI raw datasets: http://www.cvlibs.net/datasets/kitti/raw_data.php and kitti_to_rosbag: https://github.com/ethz-asl/kitti_to_rosbag -->

  <node name="player" pkg="rosbag" type="play" output="screen" args=" -r 0.2 --clock $(arg bag_file)"  if="$(arg play_bag)"/>

   <!-- Run stereo_dense_reconstruction_node-->
  <node ns="stereo_gray" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" clear_params="true" output="screen">
    <remap from="left/image_raw" to="/cam02/image_raw" />
    <remap from="left/camera_info" to="/cam02/camera_info" />
    <remap from="right/image_raw" to="/cam03/image_raw" />
    <remap from="right/camera_info" to="/cam03/camera_info" />
    <param name="approximate_sync" value="true" />
    <param name="approximate_sync" value="true" />

    <rosparam file="$(find voxblox_ros)/cfg/stereo/kitti_stereo_jager.yaml"/>
  </node>

  <node name="voxblox_node" pkg="voxblox_ros" type="tsdf_server" output="screen" args="-alsologtostderr" clear_params="true">
    <remap from="pointcloud" to="/velodyne_points" if="$(arg use_laser)" />
    <remap from="pointcloud" to="/stereo_gray/points2" unless="$(arg use_laser)" />
    <param name="tsdf_voxel_size" value="$(arg voxel_size)" />
    <param name="tsdf_voxels_per_side" value="16" />
    <param name="voxel_carving_enabled" value="true" />
    <param name="color_mode" value="color" unless="$(arg use_laser)" />
    <param name="color_mode" value="normals" if="$(arg use_laser)" />
    <param name="use_tf_transforms" value="true" />
    <param name="enable_icp" value="true" />
    <param name="icp_iterations" value="10" />
    <param name="verbose" value="true" />
    <param name="update_mesh_every_n_sec" value="0.2" />
    <param name="max_ray_length_m" value="25.0" />
    <param name="min_time_between_msgs_sec" value="0.2" />
    <param name="slice_level" value="1.0" />
    <param name="method" value="fast" />
    <param name="use_const_weight" value="true" />
    <param name="mesh_filename" value="$(find voxblox_ros)/mesh_results/$(anon kitti).ply" />
  </node>

</launch>