fid2slam.launch

<!--
   Run the fiducial_slam node
-->
<launch>
  <arg name="camera" default="/camera"/>
  <arg name="map_frame" default="map"/>
  <arg name="odom_frame" default="odom"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="publish_tf" default="true"/>
  <arg name="tf_publish_interval" default="0.2"/>
  <arg name="future_date_transforms" default="0.0"/>
  <arg name="publish_6dof_pose" default="false"/>
  <arg name="pose_publish_rate" default="20"/>
  <arg name="systematic_error" default="0.01"/>
  <arg name="covariance_diagonal" default=""/>
  <node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 base_link camera_color_optical_frame" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 1 base_link map" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="link3_broadcaster" args="0 0 0 0 0 0 1 map camera_depth_frame" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="link4_broadcaster" args="0 0 0 0 0 0 1 map camera_depth_optical_frame" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="link5_broadcaster" args="0 0 0 0 0 0 1 map camera_link" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="link6_broadcaster" args="0 0 0 0 0 0 1 map camera_color_frame" />
  

  <node type="fiducial_slam" pkg="fiducial_slam" output="screen"
    name="fiducial_slam">
    <param name="map_file" value="$(env HOME)/.ros/slam/map.txt" />
    <param name="map_frame" value="$(arg map_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="publish_tf" value="$(arg publish_tf)" />
    <param name="tf_publish_interval" value="$(arg tf_publish_interval)" />
    <param name="future_date_transforms" value="$(arg future_date_transforms)" />
    <param name="publish_6dof_pose" value="$(arg publish_6dof_pose)" />
    <param name="pose_publish_rate" value="$(arg pose_publish_rate)" />
    <param name="sum_error_in_quadrature" value="true"/>
    <rosparam param="covariance_diagonal" subst_value="True">$(arg covariance_diagonal)</rosparam>
    <remap from="/camera_info" to="$(arg camera)/camera_info"/>

  </node>
</launch>