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TUM.launch
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24 lines (18 loc) · 1.22 KB
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<launch>
<!-- arguments -->
<arg name="settings" />
<arg name="sequence" />
<arg name="association" />
<arg name="vocabulary" default="$(find ORB_SLAM2_PointMap_SegNetM)/../../../Vocabulary/ORBvoc.txt" />
<arg name="prototxt" default="$(find ORB_SLAM2_PointMap_SegNetM)/prototxts/segnet_pascal.prototxt" />
<arg name="caffemodel" default="$(find ORB_SLAM2_PointMap_SegNetM)/models/segnet_pascal.caffemodel" />
<arg name="pascal" default="$(find ORB_SLAM2_PointMap_SegNetM)/tools/pascal.png" />
<arg name="results_path" />
<param name="results_path" type="string" value="$(arg results_path)" />
<!-- orb slam Usage: TUM path_to_vocabulary path_to_settings path_to_sequence path_to_association path_to_prototxt path_to_caffemodel path_to_pascal.png -->
<node pkg="ORB_SLAM2_PointMap_SegNetM" name="TUM" type="TUM" args="$(arg vocabulary) $(arg settings) $(arg sequence) $(arg association) $(arg prototxt) $(arg caffemodel) $(arg pascal)" output="screen" required="true" />
<!-- Run other launch file -->
<include file="$(find ORB_SLAM2_PointMap_SegNetM)/launch/Octomap.launch" />
<include file="$(find ORB_SLAM2_PointMap_SegNetM)/launch/transform.launch" />
<!-- <node pkg="rviz" name="rviz" type="rviz" /> -->
</launch>