fixing realworld bluefox launch

ctu-mrs · Oct 24, 2024 · 5769577 · 5769577
1 parent 18a311e
commit 5769577
Showing 1 changed file with 22 additions and 2 deletions.
diff --git a/ros_packages/mrs_open_vins_core/launch/realworld_bluefox_front.launch b/ros_packages/mrs_open_vins_core/launch/realworld_bluefox_front.launch
@@ -15,11 +15,31 @@
       <arg name="config_path" default="$(find mrs_open_vins_core)/config/$(arg config)/estimator_config.yaml" />
       <arg name="verbosity"   default="DEBUG" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT -->
 
+      <!-- will it run using GNU debugger? -->
+      <arg name="DEBUG" default="false" />
+      <arg unless="$(arg DEBUG)" name="launch_prefix_debug" value=""/>
+      <arg     if="$(arg DEBUG)" name="launch_prefix_debug" value="debug_roslaunch"/>
+
+        <!-- will it run as standalone nodelet or using a nodelet manager? -->
+      <arg name="standalone" default="true" />
+      <arg name="manager" default="$(arg UAV_NAME)_vio_manager" />
+      <arg name="n_threads" default="8" />
+      <arg unless="$(arg standalone)" name="nodelet" value="load"/>
+      <arg     if="$(arg standalone)" name="nodelet" value="standalone"/>
+      <arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg manager)"/>
+      <arg     if="$(arg standalone)" name="nodelet_manager" value=""/>
+
+      <group unless="$(arg standalone)">
+        <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen" launch-prefix="$(arg launch_prefix) nice -n -10">
+          <param name="num_worker_threads" value="$(arg n_threads)" />
+        </node>
+      </group>
+
 <!--//{ bluefox2 -->
       <include file="$(find bluefox2)/launch/single_nodelet.launch">
         <!-- Camera Settings -->
         <arg name="plugin" value="false" />
-        <arg name="manager" value="" />
+        <arg name="manager" value="$(arg nodelet_manager)" />
         <arg name="camera_name" value="$(arg camera_name)" />
 
         <arg name="aec" value="1" />
@@ -32,7 +52,7 @@
 <!--//}-->
 
 <!--//{ open_vins -->
-      <node name="ov_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen">
+    <node pkg="nodelet" type="nodelet" name="ov_msckf" args="$(arg nodelet) run_subscribe_msckf/RunSubscribeMsckf $(arg nodelet_manager)" launch-prefix="$(arg launch_prefix)" output="screen">
 
           <param name="uav_name"              type="string" value="$(arg UAV_NAME)" />