kitti.launch

<launch>

  <!-- Set use_sim_time true for datasets-->
  <param name="use_sim_time" value="true" />

  <!-- static_transform_publisher x y z yaw pitch roll frame_id child_frame_id -->
  <!-- This transform was used set only to test if everything works
       when using something different than the camera as a reference frame.
       If enabled, take care to also fix the transform below. -->
  <!--node pkg="tf2_ros" type="static_transform_publisher" name="camera_broadcaster" args="1 0 0.5 -1.57 0 -1.57 base_link left_camera" /-->

  <!-- 'start' frame is the starting pose of the camera
       When 'base_link' is set as the reference frame,
       take care to set this transformation to the same as the previous one -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="start_broadcaster" args="0 0 0 0 0 0 start map" />

  <!-- S-PTAM pose path publisher. Used for visualization. -->
  <node pkg="ros_utils" type="pose_to_path" name="sptam_path">
    <remap from="pose" to="sptam/robot/pose" />
    <remap from="path" to="sptam/robot/path" />
  </node>

  <!-- Nodelet Manager -->
  <!--<node pkg="nodelet" type="nodelet" name="nodelet_manager"  args="manager" output="screen" clear_params="true"/>-->

  <!-- Choose between Nodelet and Node S-PTAM -->
  <node pkg="sptam" type="sptam_node" name="sptam" output="screen" >
<!--  <node pkg="nodelet" type="nodelet" name="sptam" args="load sptam/sptam_nodelet nodelet_manager" output="screen" clear_params="true" >-->

    <!-- Read S-PTAM parameters file -->
    <rosparam command="load" file="$(find sptam)/configurationFiles/kitti.yaml" />
    <param name="LoopDetectorVocabulary" value="$(find sptam)/bow_voc/DBoW2/brief_mit_malaga_vocabulary.yml.gz" />

    <param name="use_prediction" value="false" />
    <param name="approximate_sync" value="false" />
    <param name="publish_transform" value="true" />
    <param name="publish_on_fail" value="true" />

    <!--param name="prediction_frame" value="odom" /-->
    <param name="base_frame" value="left_camera" />
    <param name="camera_frame" value="left_camera" />
    <!--param name="map_frame" value="map" /-->
    <param name="reference_frame" value="left_camera" />

    <remap from="/stereo/left/image_rect" to="/kitti_stereo/left/image_rect" />
    <remap from="/stereo/right/image_rect" to="/kitti_stereo/right/image_rect" />
    <remap from="/stereo/left/camera_info"  to="/kitti_stereo/left/camera_info" />
    <remap from="/stereo/right/camera_info"  to="/kitti_stereo/right/camera_info" />

  </node>

</launch>