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This commit is contained in:
Henri Rebecq
2018-10-29 17:53:15 +01:00
commit a8c2f0ca43
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15
event_camera_simulator/esim_ros/launch/esim.launch Normal file
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<launch>
<arg name="config" />
<!-- Event camera simulator -->
<node name="esim_node" pkg="esim_ros" type="esim_node" args="
--v=1
--vmodule=data_provider_from_folder=10
--flagfile=$(find esim_ros)/$(arg config)
" output="screen"/>
<include file="$(find esim_ros)/launch/visualization.launch" />
</launch>

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event_camera_simulator/esim_ros/launch/visualization.launch Normal file
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<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>