mit.launch

<launch>

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

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

  <!-- PR2 robot model (for visualization) -->
<!--  <include file="$(find pr2_description)/robots/upload_pr2.launch" />-->

  <group ns="wide_stereo">
    <!-- Call stereo_image_proc to undistort and rectify images -->
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
      <remap from="/stereo/left/image_raw"  to="/wide_stereo/left/image_raw" />
      <remap from="/stereo/right/image_raw"  to="/wide_stereo/right/image_raw" />
      <remap from="/stereo/left/camera_info"  to="/wide_stereo/left/camera_info" />
      <remap from="/stereo/right/camera_info"  to="/wide_stereo/right/camera_info" />
    </node>
  </group>

  <!-- 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" >-->

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

    <param name="prediction_frame" value="odom_combined" />
    <param name="camera_frame" value="wide_stereo_gazebo_l_stereo_camera_optical_frame" />

    <!-- input remaps -->

    <remap from="/imu/data" to="/torso_lift_imu/data"/>

    <remap from="/stereo/left/image_features" to="/wide_stereo/left/image_features"/>
    <remap from="/stereo/right/image_features" to="/wide_stereo/right/image_features"/>
    <remap from="/stereo/left/camera_info" to="/wide_stereo/left/camera_info"/>
    <remap from="/stereo/right/camera_info" to="/wide_stereo/right/camera_info"/>

    <!-- when debugging the node subscribes to the images -->

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

    <!-- Remap Odometry message -->
    <remap from="robot/pose"  to="odom" />

  </node>

</launch>