realsense_vinsfusion_ondrone_teach.launch

<launch timeout="100.0">

    <!-- CONFIG FILE -->
    <arg name="config_path" default="$(find cerebro)/config/vinsfusion/realsense_d435i/realsense_stereo_imu_config.yaml" />


    <!-- BAG -->
    <arg name="bag_path" default="/Bulk_Data/ros_bags/realsense/" />

    <!-- Teach repeat -->
    <arg name="bag_file" default="/teach-repeat-bags/2019-07-09-11-06-23.bag" doc="teach"/>
    <!-- <arg name="bag_file" default="/teach-repeat-bags/2019-07-09-11-08-10.bag" doc="teach"/> -->


    <!-- <node pkg="rosbag" type="play" name="rosbag" args="$(arg bag_path)/$(arg bag_file) -s 1 -d 2" output="log"/> -->

    <!-- END Bag -->


    <!-- VINS-Fusion Estimator -->
    <!-- unlike previous vins-mono, even the feature tracker is put inside 1 node ie. vins_node.
    $(ubuntu) rosrun vins vins_node /app/catkin_ws/src/cerebro/config/vinsfusion/mynteye/mynteye_stereo_imu_config.yaml
    -->
    <node name="vins_estimator" pkg="vins" type="vins_node" args=" $(arg config_path)" output="log">
    </node>

    <group if="0">
        <!-- VINS-Fusion loop_fusion -->
        <!-- This is the DBOW + posegraph optimization from Qin Tong
        $(ubuntu) rosrun loop_fusion loop_fusion_node /app/catkin_ws/src/cerebro/config/vinsfusion/euroc/euroc_stereo_imu_config.yaml
        -->
        <node name="loop_fusion" pkg="loop_fusion" type="loop_fusion_node" args=" $(arg config_path)" output="log">
        </node>
    </group>


    <group if="1">
        <!-- Cerebro -->
        <node name="cerebro_node" pkg="cerebro" type="cerebro_node" output="screen">
           <param name="config_file" type="string" value="$(arg config_path)" />

           <param name="loadStateFromDisk" type="string" value="" />
           <param name="saveStateToDisk" type="string" value="/Bulk_Data/chkpts_cerebro/" />

        </node>

        <!-- no need to run the default server as the server is run else using the package https://github.com/mpkuse/tx2_whole_image_desc_server -->
        <group if="1" >
            <!-- KERAS SERVER -->
            <!-- $(ubuntu) rosrun cerebro whole_image_desc_compute_server.py _config_file:=/app/catk_ws/src/cerebro/config/vinsfusion/euroc/euroc_stereo_imu_config.yaml -->
            <node name="my_desc_server" pkg="cerebro" type="whole_image_desc_compute_server.py" output="log">
              <!-- <param name="kerasmodel_file" type="string" value="$(find cerebro)/scripts/keras.models/mobilenet_conv7_allpairloss.keras" /> -->
              <!-- <param name="kerasmodel_file" type="string" value="$(find cerebro)/scripts/keras.models/modelarch_and_weights.h5" /> -->
              <!-- <param name="kerasmodel_file" type="string" value="$(find cerebro)/scripts/keras.models/June2019/centeredinput-m1to1-240x320x3__mobilenet-conv_pw_6_relu__K16__allpairloss/modelarch_and_weights.700.h5" /> -->
              <!-- <param name="kerasmodel_file" type="string" value="$(find cerebro)/scripts/keras.models/June2019/centeredinput-m1to1-240x320x3__mobilenetv2-block_9_add__K16__allpairloss/modelarch_and_weights.800.h5" /> -->
              <param name="kerasmodel_file" type="string" value="$(find cerebro)/scripts/keras.models/June2019/centeredinput-m1to1-240x320x1__mobilenetv2-block_9_add__K16__allpairloss/modelarch_and_weights.2000.h5" />


               <param name="config_file" type="string" value="$(arg config_path)" />
               <!--         OR -->
               <!--
               <param name="nrows" type="string" value="480" />
               <param name="ncols" type="string" value="752" />
                -->

               <param name="nchnls" type="string" value="1" />
               <!-- <param name="nchnls" type="string" value="3" /> -->
            </node>
        </group>

        <!-- Pose graph (kidnap aware) -->
        <!-- $(ubuntu) rosrun solve_keyframe_pose_graph keyframe_pose_graph_slam -->
        <node name="keyframe_pose_graph_slam_node" pkg="solve_keyframe_pose_graph" type="keyframe_pose_graph_slam" output="log" >

            <param name="loadStateFromDisk" type="string" value="" />
            <param name="saveStateToDisk" type="string" value="/Bulk_Data/chkpts_posegraph_solver/" />

            <param name="adhoc_pubpath" type="string" value="true" />
            <param name="adhoc_pubw0_T_w1" type="string" value="false" />


        </node>
    </group>

</launch>