minor launch file changes

ethz-asl · Dec 4, 2019 · ad4e039 · ad4e039
1 parent 9cb8057
commit ad4e039
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Showing 2 changed files with 70 additions and 2 deletions.
diff --git a/applications/maplab_node/launch/maplab_node_simple.launch b/applications/maplab_node/launch/maplab_node_simple.launch
@@ -17,6 +17,7 @@
   <arg name="maplab_save_map_every_n_sec" default="0"/>
   <arg name="maplab_keyframe_when_saving" default="false"/>
 
+  <arg name="maplab_apply_clahe" default="false"/>
   <arg name="maplab_attach_images" default="false"/>
   <arg name="maplab_attach_point_clouds" default="false"/>
   <arg name="maplab_attach_point_cloud_maps" default="false"/>
@@ -42,10 +43,12 @@
       <!-- DATA SOURCE -->
       <arg name="datasource_type" default="rostopic"/>
       <arg name="datasource_rosbag" default=""/>
-      <arg name="imu_to_camera_time_offset_ns" default="$(arg maplab_imu_to_camera_time_offset_ns)"/>
+      <arg name="imu_to_camera_time_offset_ns" 
+        default="$(arg maplab_imu_to_camera_time_offset_ns)"/>
 
       <!-- DATA PREPROCESSING -->
-      <arg name="image_apply_clahe_histogram_equalization" default="false"/>
+      <arg name="image_apply_clahe_histogram_equalization" 
+        default="$(arg maplab_apply_clahe"/>
 
       <!-- LOCALIZATION BASED ON VISION -->
       <arg name="enable_visual_localization" default="false"/>

diff --git a/applications/maplab_node/launch/maplab_node_w_rovioli/rovioli.launch b/applications/maplab_node/launch/maplab_node_w_rovioli/rovioli.launch
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="robot_name" default=""/>
+  <arg name="rovioli_sensor_calibration_file" default=""/>
+  <arg name="rovioli_imu_to_camera_time_offset_ns" default="0"/>
+  <arg name="rovioli_image_topic_suffix" default=""/>
+  <arg name="rovioli_camera_mask_file" default=""/>
+  <arg name="rovioli_apply_clahe" default="false"/>
+
+  <arg name="rovioli_selected_ncamera_sensor_id" default=""/>
+  <arg name="rovioli_imu_sensor_id" default=""/>
+
+  <arg name="rovioli_localization_map_folder" default=""/>
+  <arg name="rovioli_world_frame" default="map"/>
+  <arg name="rovioli_verbosity" default="0"/>
+
+  <!-- ================================== ROVIOLI ================================================== -->
+
+  <group ns="$(arg robot_name)/rovioli">
+     <include file="$(find rovioli)/launch/rovioli.launch">
+          <!-- SENSORS AND CALIBRATION -->
+          <arg name="sensor_calibration_file" default="$(arg rovioli_sensor_calibration_file)"/>
+          <arg name="external_imu_parameters_rovio" default=""/>
+          <arg name="imu_to_camera_time_offset_ns" default="$(arg rovioli_imu_to_camera_time_offset_ns)"/>
+          <arg name="rovioli_image_apply_clahe_histogram_equalization" 
+            default="$(arg rovioli_apply_clahe)"/>
+
+          <arg name="rovio_image_mask_path" default="$(arg rovioli_camera_mask_file)"/>
+
+          <!-- only needed if there are multiple ncameras/lidars/imus/odometries in the calibration file. -->
+          <arg name="selected_ncamera_sensor_id" default="$(arg rovioli_selected_ncamera_sensor_id)"/>
+          <arg name="selected_imu_sensor_id" default="$(arg rovioli_imu_sensor_id)"/>
+
+          <!-- DATA SOURCE -->
+          <arg name="datasource_type" default="rostopic"/>
+          <arg name="datasource_rosbag" default=""/>
+
+          <!-- MAP BUILDING (DISABLED) -->
+          <arg name="rovioli_run_map_builder" default="false"/>
+          <arg name="save_map_folder" default=""/>
+          <arg name="overwrite_existing_map" default="false"/>
+          <arg name="optimize_map_to_localization_map" default="false"/>
+          <arg name="map_builder_save_image_as_resources" default="false"/>
+
+          <!-- VISUAL LOCALIZATION (DISABLED) -->
+          <arg name="vio_localization_map_folder" default="$(arg rovioli_localization_map_folder)"/>
+
+          <!-- DEBUGGING AND LOGGING -->
+          <arg name="alsologtostderr" default="true"/>
+          <arg name="colorlogtostderr" default="true"/>
+          <arg name="v" default="$(arg rovioli_verbosity)"/>
+          <arg name="publish_debug_markers" default="true"/>
+
+          <!-- TF -->
+          <arg name="tf_map_frame" default="$(arg rovioli_world_frame)"/>
+          <arg name="tf_mission_frame" default="rovioli_$(arg robot_name)_odom"/>
+          <arg name="tf_imu_frame" default="rovioli_$(arg robot_name)_imu"/>
+
+          <arg name="rovioli_enable_health_checking" default="true"/>
+          <arg name="rovio_enable_frame_visualization" default="true"/>
+          <arg name="vio_camera_topic_suffix" default="$(arg rovioli_image_topic_suffix)" />
+    </include>
+  </group>
+</launch>