cleanup rgbdi launch files

ethz-asl · Dec 5, 2019 · c82b476 · c82b476
1 parent 47311d1
commit c82b476
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Showing 4 changed files with 15 additions and 111 deletions.
diff --git a/applications/maplab_node/launch/maplab_node_w_rovioli/maplab_node_rovioli_rgbdi.launch b/applications/maplab_node/launch/maplab_node_w_rovioli/maplab_node_rovioli_rgbdi.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 
 <launch>
-	<node pkg="rosbag" type="play" name="rosbag" args="/home/mfehr/experimental_ws/modelify/bags/outdoor1.bag -q -d 5 -s 0 -r 2.0"/>
+	<node pkg="rosbag" type="play" name="rosbag" args="/home/mfehr/experimental_ws/maplab/rgbdi_bag/original5_2019-11-28-13-18-04.bag -q -d 5 -s 0 -r 1.0"/>
 
 	<node pkg="rviz" type="rviz" name="maplab_rviz" args="-d $(find maplab_node)/share/maplab.rviz -f map"/>
 
 	<include file="$(find maplab_node)/launch/maplab_node_w_rovioli/maplab_node_rovioli.launch">
 		<arg name="robot_name" default=""/>
-		<arg name="maplab_sensor_calibration_file" default="$(find maplab_node)/share/example_calibrations/rgbdi-vi-complete.yaml"/>
+		<arg name="maplab_sensor_calibration_file" default="$(find maplab_node)/share/example_calibrations/rgbdi-sensor_vi.yaml"/>
 		<arg name="maplab_imu_to_camera_time_offset_ns" default="19638586"/>
 
 		<arg name="maplab_selected_ncamera_sensor_id" default="8af1bacaaac5fad79f09e49e3b96d87c"/>
@@ -28,6 +28,6 @@
 		<arg name="maplab_point_cloud_to_depth_map_conversion_include_intensity_image" default="true"/>
 	  <arg name="maplab_attach_point_cloud_maps" default="false"/>
 
-	  <arg name="maplab_map_folder" default="/tmp/"/>
+	  <arg name="maplab_map_folder" default="/tmp/rgbdi_lee_j/"/>
 	</include>
 </launch>
diff --git a/applications/maplab_node/share/example_calibrations/rgbdi-vi-sensor.yaml b/applications/maplab_node/share/example_calibrations/rgbdi-vi-sensor.yaml
diff --git a/applications/maplab_node/src/datasource-rosbag.cc b/applications/maplab_node/src/datasource-rosbag.cc
@@ -234,13 +234,12 @@ void DataSourceRosbag::streamingWorker() {
                        << image_measurement->timestamp
                        << "ns vs last timestamp: "
                        << last_image_timestamp_ns_[camera_idx] << "ns.";
-          return;
         } else {
           last_image_timestamp_ns_[camera_idx] = image_measurement->timestamp;
-        }
 
-        VLOG(3) << "Publish Image measurement...";
-        invokeImageCallbacks(image_measurement);
+          VLOG(3) << "Publish Image measurement...";
+          invokeImageCallbacks(image_measurement);
+        }
       }
     }
 
@@ -265,13 +264,12 @@ void DataSourceRosbag::streamingWorker() {
                        << imu_measurement->timestamp
                        << "ns vs last timestamp: " << last_imu_timestamp_ns_
                        << "ns.";
-          return;
         } else {
           last_imu_timestamp_ns_ = imu_measurement->timestamp;
-        }
 
-        VLOG(3) << "Publish IMU measurement...";
-        invokeImuCallbacks(imu_measurement);
+          VLOG(3) << "Publish IMU measurement...";
+          invokeImuCallbacks(imu_measurement);
+        }
       }
     }
 

diff --git a/applications/rovioli/src/datasource-rosbag.cc b/applications/rovioli/src/datasource-rosbag.cc
@@ -185,13 +185,12 @@ void DataSourceRosbag::streamingWorker() {
                        << image_measurement->timestamp
                        << "ns vs last timestamp: "
                        << last_image_timestamp_ns_[camera_idx] << "ns.";
-          return;
         } else {
           last_image_timestamp_ns_[camera_idx] = image_measurement->timestamp;
-        }
 
-        VLOG(3) << "Publish Image measurement...";
-        invokeImageCallbacks(image_measurement);
+          VLOG(3) << "Publish Image measurement...";
+          invokeImageCallbacks(image_measurement);
+        }
       }
     }
 
@@ -213,13 +212,12 @@ void DataSourceRosbag::streamingWorker() {
                        << imu_measurement->timestamp
                        << "ns vs last timestamp: " << last_imu_timestamp_ns_
                        << "ns.";
-          return;
         } else {
           last_imu_timestamp_ns_ = imu_measurement->timestamp;
-        }
 
-        VLOG(3) << "Publish IMU measurement...";
-        invokeImuCallbacks(imu_measurement);
+          VLOG(3) << "Publish IMU measurement...";
+          invokeImuCallbacks(imu_measurement);
+        }
       }
     }