update launch file

qintonguav · May 12, 2018 · 8365584 · 8365584
1 parent d236c2e
commit 8365584
Showing 1 changed file with 11 additions and 12 deletions.
diff --git a/vins_estimator/launch/euroc_multi_agent.launch b/vins_estimator/launch/euroc_multi_agent.launch
@@ -10,7 +10,7 @@
     <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log"/>
     <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="log"/>
     <node pkg="rosbag" type="play" name="player" output="log" 
-    args="$(arg sequence_1)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw " />
+    args="$(arg sequence_1)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw" />
     </group>
 
     <group ns="vins_2">
@@ -20,7 +20,7 @@
     <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log"/>
     <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="log"/>
     <node pkg="rosbag" type="play" name="player" output="log" 
-    args="$(arg sequence_2)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw " />
+    args="$(arg sequence_2)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw" />
     </group>
 
     <group ns="vins_3">
@@ -30,18 +30,17 @@
     <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log"/>
     <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="log"/>
     <node pkg="rosbag" type="play" name="player" output="log" 
-    args="$(arg sequence_3)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw " />
+    args="$(arg sequence_3)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw" />
     </group>
 
-    <group ns="vins_4">
-    <param name="config_file" type="string" value="$(find feature_tracker)/../config/euroc/euroc_config.yaml" />
-    <param name="vins_folder" type="string" value="$(find feature_tracker)/../config/../" />
-    <param name="agent_num" type="int" value="4" />
-    <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log"/>
-    <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="log"/>
-    <node pkg="rosbag" type="play" name="player" output="log" 
-    args="$(arg sequence_4)  /imu0:=imu0 /cam0/image_raw:=cam0/image_raw " />
-    </group>
+    <node name="pose_graph" pkg="pose_graph" type="pose_graph" output="screen">
+        <param name="visualization_shift_x" type="int" value="0" />
+        <param name="visualization_shift_y" type="int" value="0" />
+        <param name="skip_cnt" type="int" value="0" />
+        <param name="skip_dis" type="double" value="0" />
+        <param name="pose_graph_save_path" type="string" value="/home/ri/raw_data/pose_graph/" />
+        <param name="pose_graph_result_path" type="string" value="/home/tony-ws1/output/" />
+    </node>
 
     <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find vins_estimator)/../config/multi_agent_rviz.rviz" />