mirror of
https://github.com/karma-riuk/hdr_esim.git
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28 lines
1.0 KiB
XML
28 lines
1.0 KiB
XML
<launch>
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<!-- Visualization -->
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<node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" required="false">
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<remap from="events" to="/cam0/events" />
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<remap from="image" to="/cam0/image_corrupted" />
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<remap from="dvs_rendering" to="dvs_rendering" />
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</node>
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<node name="optic_flow_viz" pkg="esim_visualization" type="optic_flow_converter.py" output="screen" required="false">
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<param name="arrows_step" value="7" />
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<param name="arrows_scale" value="0.07" />
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<param name="arrows_upsample_factor" value="1" />
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<param name="publish_rate" value="100" />
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<remap from="flow" to="/cam0/optic_flow" />
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</node>
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<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen" required="false">
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<param name="target_frame_name" value="map"/>
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<param name="source_frame_name" value="cam0"/>
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<param name="trajectory_publish_rate" value="15"/>
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<param name="trajectory_update_rate" value="15"/>
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</node>
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</launch>
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