Quadrotor

<launch>

  <!-- this demonstrates the parameters that can be set via the parameter server and their default                                        values -->

  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find rgbdslam)/log.conf"/>

  <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${message}"/>

  <arg name="debug" default="false"/>

  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/time"/-->

  <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="screen"  launch-prefix="$(arg launch_prefix)"> 

  	<param name="config/topic_image_mono"              value="/camera/rgb/image_color"/>

  	<param name="config/topic_image_depth"             value="/camera/depth/image"/>

  	<param name="config/topic_points"                  value=""/>

    <param name="config/wide_topic"                    value=""/>;

    <param name="config/wide_cloud_topic"              value=""/>;

  	<param name="config/fixed_frame_name"              value="/map"/>

    <param name="config/ground_truth_frame_name"       value="/world"/><!--empty string if no ground truth-->

    <param name="config/base_frame_name"               value="/openni_rgb_optical_frame"/> <!-- /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-->

  	<param name="config/start_paused"                  value="false"/>

  	<param name="config/store_pointclouds"             value="false"/>

  	<param name="config/subscriber_queue_size"         value="9"/>

  	<param name="config/depth_scaling_factor"          value="1.0042723"/>

  	<!--param name="config/feature_detector_type"         value="SURF"/-->

  	<!--param name="config/feature_extractor_type"        value="SURF"/-->

  	<!--param name="config/bagfile_name"                  value="/home/endres/tmp/rgbd_datasets/rgbd_dataset_freiburg1_desk.bag"/-->

  	<param name="config/max_keypoints"                 value="2000"/>

  	<param name="config/min_keypoints"                 value="1500"/>

  	<param name="config/fast_max_iterations"           value="10"/>

  	<param name="config/surf_max_iterations"           value="5"/>

  	<param name="config/min_translation_meter"         value="0.00"/>

  	<param name="config/min_rotation_degree"           value="0.0"/>

  	<param name="config/min_time_reported"             value="0.005"/>

  	<param name="config/squared_meshing_threshold"     value="0.0009"/>

  	<param name="config/preserve_raster_on_save"       value="false"/>

  	<param name="config/connectivity"                  value="20"/>

  	<param name="config/max_connections"               value="5"/>

  	<param name="config/drop_async_frames"             value="true"/>

  	<param name="config/min_matches"                   value="50"/>

  	<param name="config/max_dist_for_inliers"          value="0.03"/>

  	<param name="config/ransac_iterations"             value="5000"/>

  	<param name="config/use_flann"                     value="true"/>

  	<param name="config/use_gui"                       value="true"/>

  	<param name="config/use_glwidget"                  value="false"/> <!-- incompatible with voxelgrid filter > 0 -->

  	<param name="config/concurrent_node_construction"  value="true"/>

  	<param name="config/optimizer_iterations"          value="1"/>

  	<param name="config/optimizer_skip_step"           value="150000"/>

  	<param name="config/data_skip_step"                value="1"/>

    <param name="config/batch_processing"              value="true"/>    <!--store results and close after bagfile has been processed-->

  </node>

  <!--include file="$(find openni_camera)/launch/kinect_frames.launch"/-->

</launch>