160.launch

<launch>


    <!-- MASTER NODE! -->
    <node name="run_serial_msckf" pkg="ov_msckf" type="run_serial_msckf" output="screen" clear_params="true" required="true">

        <!-- bag topics -->
        <param name="topic_imu"      type="string" value="/uav1/vio/imu" />
        <param name="topic_camera0"  type="string" value="/uav1/vio/camera/image_raw" />

        <!-- bag parameters -->
        <param name="path_bag"    type="string" value="/home/patrick/datasets/open_vins_issues/160.bag" />
        <param name="bag_start"   type="double" value="6.0" />
        <param name="bag_durr"    type="int"    value="-1" />

        <!-- world/filter parameters -->
        <param name="use_fej"                type="bool"   value="true" />
        <param name="use_imuavg"             type="bool"   value="true" />
        <param name="use_rk4int"             type="bool"   value="true" />
        <param name="use_stereo"             type="bool"   value="false" />
        <param name="calib_cam_extrinsics"   type="bool"   value="false" />
        <param name="calib_cam_intrinsics"   type="bool"   value="false" />
        <param name="calib_cam_timeoffset"   type="bool"   value="false" />
        <param name="calib_camimu_dt"        type="double" value="0.0" />
        <param name="max_clones"             type="int"    value="11" />
        <param name="max_slam"               type="int"    value="75" />
        <param name="max_slam_in_update"     type="int"    value="25" /> <!-- 25 seems to work well -->
        <param name="max_msckf_in_update"    type="int"    value="40" />
        <param name="max_cameras"            type="int"    value="1" />
        <param name="dt_slam_delay"          type="double" value="3" />
        <param name="init_window_time"       type="double" value="0.75" />
        <param name="init_imu_thresh"        type="double" value="0.01" />
        <rosparam param="gravity">[0.0,0.0,9.81]</rosparam>
        <param name="feat_rep_msckf"         type="string" value="GLOBAL_3D" />
        <param name="feat_rep_slam"          type="string" value="ANCHORED_FULL_INVERSE_DEPTH" />
        <param name="feat_rep_aruco"         type="string" value="ANCHORED_FULL_INVERSE_DEPTH" />

        <!-- zero velocity update parameters -->
        <param name="try_zupt"               type="bool"   value="true" />
        <param name="zupt_chi2_multipler"    type="int"    value="1" />
        <param name="zupt_max_velocity"      type="double" value="0.1" />
        <param name="zupt_noise_multiplier"  type="double" value="1" />
        <param name="zupt_only_at_beginning" type="bool"   value="true" />

        <!-- timing statistics recording -->
        <param name="record_timing_information"   type="bool"   value="false" />
        <param name="record_timing_filepath"      type="string" value="/tmp/timing_stereo.txt" />

        <!-- tracker/extractor properties -->
        <param name="use_klt"            type="bool"   value="true" />
        <param name="num_pts"            type="int"    value="200" />
        <param name="fast_threshold"     type="int"    value="15" />
        <param name="grid_x"             type="int"    value="5" />
        <param name="grid_y"             type="int"    value="3" />
        <param name="min_px_dist"        type="int"    value="2" />
        <param name="knn_ratio"          type="double" value="0.70" />
        <param name="downsample_cameras" type="bool"   value="false" />
        <param name="multi_threading"    type="bool"   value="true" />

        <!-- aruco tag/mapping properties -->
        <param name="use_aruco"        type="bool"   value="false" />
        <param name="num_aruco"        type="int"    value="1024" />
        <param name="downsize_aruco"   type="bool"   value="true" />

        <!-- sensor noise values / update -->
        <param name="up_msckf_sigma_px"            type="double"   value="1" />
        <param name="up_msckf_chi2_multipler"      type="double"   value="1" />
        <param name="up_slam_sigma_px"             type="double"   value="1" />
        <param name="up_slam_chi2_multipler"       type="double"   value="1" />
        <param name="up_aruco_sigma_px"            type="double"   value="1" />
        <param name="up_aruco_chi2_multipler"      type="double"   value="1" />
        <param name="gyroscope_noise_density"      type="double"   value="1.6968e-03" />
        <param name="gyroscope_random_walk"        type="double"   value="1.9393e-05" />
        <param name="accelerometer_noise_density"  type="double"   value="2.0000e-2" />
        <param name="accelerometer_random_walk"    type="double"   value="3.0000e-3" />

        <!-- camera intrinsics -->
        <rosparam param="cam0_wh">[752, 480]</rosparam>
        <param name="cam0_is_fisheye" type="bool" value="true" />
        <rosparam param="cam0_k">[227.4010064226358,227.35879407313246,375.5302935901654,239.4881944649193]</rosparam>
        <rosparam param="cam0_d">[0.019265981371039506,0.0011428473998276235,-0.0003811659324868097,6.340084698783884e-05]</rosparam>

        <!-- camera extrinsics -->
        <rosparam param="T_C0toI">
            [
            1, 0, 0, 0,
            0, 1, 0, 0,
            0, 0, 1, 0,
            0, 0, 0, 1
            ]
        </rosparam>


    </node>


</launch>