rgbd_odometry/gel.launch at master · mpkuse/rgbd_odometry · GitHub

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<launch>

  <!-- Bag -->
  <node name="rosbag"
        pkg="rosbag"
        type="play"
        respawn="false"
  args="-s 3.3 -r 0.1 $(env BAG_PATH)rgbd_dataset_freiburg1_floor.bag"

  />

<node pkg="rgbd_odometry" name="camTopic2PublisherPyD" type="camTopic2PublisherPyD" output="screen">
  </node>


<node pkg="rgbd_odometry" name="dvo" type="dvo" output="screen">
  </node>

<!--
  <node name="rviz"
        pkg="rviz"
        type="rviz"
        respawn="false"
        args="-d $(env PWD)/depth_cam_viz.rviz"
        />
        -->
<!--
  <node pkg="image_view"
        name="image_view"
        type="image_view"
        output="screen">
    <remap from="image" to="/stereo_pose_estimator/image_vis"/>
    <param name="autosize" type="bool" value="true" />
  </node>
-->
</launch>