ROS viso2 mono odometry test

example.launch

<launch>

	<!-- Arguments -->
	<arg name="bagfile" default="/home/osboxes/Downloads/only_rgb.bag"/> <!-- Find it on http://srv.uib.es/public/viso2_ros/sample_bagfiles/  -->
    <param name="/use_sim_time" value="true"/>

    <!-- Play the bagfile -->
    <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)" />

    <!-- Run the stereo image proc -->
    <!--node ns="$(arg camera)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" /-->

	<node name="camera_tf"
		pkg="tf" 
		type="static_transform_publisher" 
		args="0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_link openni_rgb_optical_frame 20" /> 


    <!-- Uncompress data -->
    <node name="republish_rgb" 
          type="republish" 
          pkg="image_transport" 
          args="compressed in:=/data_throttled_image raw out:=/camera/rgb" />
    
    <!-- Viso2 -->
    <node pkg="viso2_ros" type="mono_odometer" name="mono_odometer" output="screen">
        <remap from="mono" to="/camera"/>
        <remap from="image" to="/camera/rgb"/>
        <remap from="/camera/camera_info" to="/data_throttled_camera_info"/>

        <param name="base_link_frame_id" value="/base_link"/>
        <param name="camera_height" value="480"/>
        <param name="sensor_frame_id" value="/openni_rgb_optical_frame"/>
    </node>

</launch>

install.md

• Clone source from https://github.com/srv/viso2
• Create sym links to catkin_ws/src folders: libviso2 and viso2_ros
  • build
  • source setup.bash