花了点时间查找了launch文件参数的内容并做了标注。
我用的是单目普通摄像头,所以把第二个摄像头和鱼眼的参数给删掉了,希望对大家有帮助。
有问题也希望大家指正
<launch>
<!-- MASTER NODE! -->
<node name="run_serial_msckf" pkg="ov_msckf" type="run_serial_msckf" output="screen" clear_params="true" required="true" >
<!-- bag topics -->
<param name="topic_imu" type="string" value="/imu0" />
<param name="topic_camera0" type="string" value="/cam0/image_raw" />
<!-- bag parameters -->
<!-- path -->
<param name="path_bag" type="string" value="/home/desmond/Data/EuRoC/V1_01_easy.bag" />
<param name="path_gt" type="string" value="$(find ov_data)/euroc_mav/V1_01_easy.csv" />
<!--Get our start location and how much of the bag we want to play-->
<param name="bag_start" type="double" value="6.0" />
<!--Make the bag duration < 0 to just process to the end of the bag-->
<param name="bag_durr" type="int" value="-1" />
<!-- world/filter parameters -->
<!--Bool to determine whether or not to do first estimate Jacobians-->
<param name="use_fej" type="bool" value="true" />
<!--Bool to determine whether or not use imu message averaging-->
<param name="use_imuavg" type="bool" value="true" />
<!--Bool to determine if we should use Rk4 imu integration-->
<param name="use_rk4int" type="bool" value="true" />
<!--Bool to determine if we should use stereo--