rgbdslam launch file

<!-- This file demonstrates the parameters that can be set via the parameter server.
     The settings here typically show the default values (c.f. parameter_server.cpp)
     This file strives to enlist all possibilities, to be a good copy-paste source.
     In general most options/tags don't need to be altered/used. -->
<launch>
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find rgbdslam)/log.conf"/>
  <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${message}"/>

  <arg name="debug" default="false"/>
  <!-- Several possibilities to debug (uncomment only one)-->
  <arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/gdb -ex run -args"/>
  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/xterm -rv -e gdb -ex run -args"/-->
  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/valgrind -DELeTEME-tool=cachegrind -DELETEME-cachegrind-out-file=/tmp/cachegrind.out"/-->
  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/valgrind -DELETEME-leak-check=full "/-->
  <arg unless="$(arg debug)" name="launch_prefix" value=""/>

  <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="log"  launch-prefix="$(arg launch_prefix)">
    <!-- Input data settings-->
    <param name="config/topic_image_mono"              value="/camera/rgb/image_mono"/> <!--could also be color -->
    <param name="config/topic_image_depth"             value="/camera/depth/image_raw"/>
    <param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->
    <param name="config/camera_info_topic"             value="/camera/rgb/camera_info"/>
    <param name="config/wide_topic"                    value=""/>
    <param name="config/wide_cloud_topic"              value=""/>
    <param name="config/subscriber_queue_size"         value="2"/>
    <param name="config/drop_async_frames"             value="true"/> <!-- Check association of depth and visual image, reject if not in sync -->
    <param name="config/depth_scaling_factor"          value="1.0"/> <!-- to correct bad depth scaling of kinect -->
    <param name="config/bagfile_name"                  value="/home/imaterna/ros_workspace/turtlebot-datasets/dataset_17_02/2012-02-17-12-09-16.bag"/><!-- read data from a bagfile, make sure to enter the right topics above-->
    <param name="config/data_skip_step"                value=""/><!-- skip every n-th frame completely -->

    <!-- Output data settings-->
    <param name="config/store_pointclouds"             value="true"/> <!-- if, e.g., only trajectory is required, setting this to false saves lots of memory -->
    <param name="config/individual_cloud_out_topic"    value="/rgbdslam/batch_clouds"/><!-- The point clouds, e.g., for octomap server (the corresp. sensor poses are sent via /tf). Requires store_pointclouds to be true. Is sent only on request (service call or gui menu) -->
    <param name="config/aggregate_cloud_out_topic"     value="/rgbdslam/aggregate_clouds"/>
    <param name="config/publisher_queue_size"          value="1"/><!-- affects all publishers -->

    <!-- TF information settings -->
    <!--<param name="config/fixed_frame_name"              value="/map"/>-->
    <param name="config/ground_truth_frame_name"       value=""/><!--empty string if no ground truth-->
    <param name="config/base_frame_name"               value="/base_link"/> <!-- /openni_camera for hand-held kinect. For robot, e.g., /base_link -->
    <param name="config/fixed_camera"                  value="true"/> <!--is the kinect fixed with respect to base, or can it be moved (false makes sense only if transform betw. base_frame and openni_camera is sent via tf)-->

    <!-- Visual Features, to activate GPU-based features see CMakeLists.txt -->
    <param name="config/feature_detector_type"         value="SURF"/><!-- If SIFTGPU is enabled in CMakeLists.txt, use SURF here -->
    <param name="config/feature_extractor_type"        value="SURF"/><!-- If SIFTGPU is enabled in CMakeLists.txt, use SURF here -->
    <param name="config/matcher_type"                  value="FLANN"/> <!-- FLANN (not avail for ORB features), SIFTGPU (only for SIFTGPU detector)  or BRUTEFORCE-->
    <param name="config/nn_distance_ratio"             value="0.6"/> <!-- Feature correspondence is valid if distance to nearest neighbour is smaller than this parameter times the distance to the 2nd neighbour -->
    <param name="config/max_keypoints"                 value="1000"/><!-- Extract no more than this many keypoints (not honored by SIFTGPU)-->
    <param name="config/min_keypoints"                 value="600"/><!-- Extract no less than this many ... -->
    <param name="config/adjuster_max_iterations"           value="3"/>

    <!-- Algortithm settings -->
    <param name="config/min_translation_meter"         value="0.1"/><!-- frames with motion less than this, will be omitted -->
    <param name="config/min_rotation_degree"           value="5"/><!-- frames with motion less than this, will be omitted -->
    <param name="config/geodesic_candidates"           value="10"/><!-- search through this many neighbouring nodes for corrspondences -->
    <param name="config/min_sampled_candidates"        value="10"/><!-- search through this many uniformly sampled nodes for corrspondences -->
    <param name="config/max_connections"               value="15"/><!-- stop after this many succesfully found spation relations -->
    <param name="config/min_matches"                   value="50"/><!-- Prune unreliable transformations from too few feature matches -->
    <param name="config/sufficient_matches"            value="400"/><!-- Instead of matching all new descriptors against all of a previous node in one step, sufficient_matches+100 of the new descriptors are iteratively compared to all of the previous node until sufficient_matches are found. Setting this parameter low (e.g. 2x min_matches) speeds up comparisons of frames with many matches, but with a potential loss of accuracy, as the transformation is estimated from less features. Set it to max_keypoints for maximum accuracy -->
    <param name="config/ransac_iterations"             value="5000"/><!-- these are fast, so high values are ok -->
    <param name="config/max_dist_for_inliers"          value="0.03"/> <!--matches considered inliers by ransac-->
    <param name="config/optimizer_iterations"          value="2"/><!-- maximum of iterations in online operation (i.e., does not affect the final optimization in batch mode) -->
    <param name="config/optimizer_skip_step"           value="1"/><!-- optimize every n-th frame. Set high for offline operation -->
    <param name="config/use_icp"                       value="false"/> <!-- Ignored if ICP is not compiled in (see top of CMakeLists.txt) -->

    <!-- Visualization Settings -->
    <param name="config/squared_meshing_threshold"     value="0.0009"/><!-- don't triangulate over depth jumps -->
    <param name="config/visualization_skip_step"       value="1"/> <!-- draw only every nth pointcloud row and line, high values require higher squared_meshing_threshold -->
    <param name="config/use_glwidget"                  value="true"/><!-- 3D visualization needs performance -->
    <param name="config/use_gui"                       value="true"/><!-- No visualization, e.g., on robot -->
    <param name="config/show_axis"                     value="true"/>    <!-- do/don't visualize the pose graph in glwidget-->

    <!-- Misc -->
    <param name="config/concurrent_node_construction"  value="true"/><!-- detect+extract features for new frame, while current frame is inserted into graph -->
    <param name="config/concurrent_edge_construction"  value="true"/><!-- compare current frame to many predecessors in parallel, might not work with SIFTGPU matcher (but SIFTGPU detector and extractor is ok) -->
    <param name="config/voxelfilter_size"              value="-1.0"/> <!-- in meter voxefilter displayed and stored pointclouds, incompatible with use_glwidget=true. Set negative to disable-->
    <param name="config/preserve_raster_on_save"       value="false"/>
    <param name="config/min_time_reported"             value="0.01"/><!-- for easy runtime analysis -->
    <param name="config/start_paused"                  value="true"/>
    <param name="config/batch_processing"              value="false"/>    <!--store results and close after bagfile has been processed-->
    <param name="config/keep_all_nodes"                value="false"/> <!-- add nodes with constant motion if no transformation can be found -->
  </node>

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rgbdslam)/launch/rviz_config.vcg" respawn="false" output="log" > </node>

</launch>