<launch>

  <!-- Visualization -->
  <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" required="false">
    <remap from="events" to="/cam0/events" />
    <remap from="image" to="/cam0/image_corrupted" />
    <remap from="dvs_rendering" to="dvs_rendering" />
  </node>

  <node name="optic_flow_viz" pkg="esim_visualization" type="optic_flow_converter.py" output="screen" required="false">
    <param name="arrows_step" value="7" />

    <param name="arrows_scale" value="0.07" />
    <param name="arrows_upsample_factor" value="1" />
    <param name="publish_rate" value="100" />

    <remap from="flow" to="/cam0/optic_flow" />
  </node>

  <!-- <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen" required="false">
    <param name="target_frame_name" value="map"/>
    <param name="source_frame_name" value="cam0"/>
    <param name="trajectory_publish_rate" value="15"/>
    <param name="trajectory_update_rate" value="15"/>
  </node> -->

</launch>
