ubuntu adding a monitor
<launch>
<node name="run_serial_msckf" pkg="ov_msckf" type="run_serial_msckf" output="screen">
<!-- bag topics -->
<param name="topic_imu" type="string" value="/imu0" />
<param name="topic_camera0" type="string" value="/cam0/image_raw" />
<param name="topic_camera1" type="string" value="/cam1/image_raw" />
<rosparam param="stereo_pairs">[0,1]</rosparam>
<!-- bag parameters -->
<param name="path_bag" type="string" value="/<path>/V1_01_easy.bag" />
<param name="bag_start" type="int" value="0" />
<param name="bag_durr" type="int" value="-1" />
<!-- world/filter parameters -->
<param name="max_clones" type="int" value="11" />
<param name="max_slam" type="int" value="0" />
<param name="max_cameras" type="int" value="2" />
<param name="init_window_time" type="double" value="0.5" />
<param name="init_imu_thresh" type="double" value="2.0" />
<rosparam param="gravity">[0.0,0.0,9.81]</rosparam>
<param name="feat_rep_msckf" type="string" value="GLOBAL_3D" />
<param name="feat_rep_slam" type="string" value="GLOBAL_3D" />
<!-- tracker/extractor parameters -->
<param name="use_klt" type="bool" value="true" />
<param name="fast_threshold" type="int" value="10" />
<param name="grid_x" type="int" value="5" />
<param name="grid_y" type="int" value="3" />
<param name="min_px_dist" type="int" value="10" />
<param name="num_pts" type="int" value="400" />
<!-- sensor noise values / update -->
<param name="up_msckf_sigma_px" type="double" value="1" />
<param name="up_msckf_chi2_multipler" type="double" value="1" />
<param name="gyroscope_noise_density" type="double" value="1.6968e-04" />
<param name="gyroscope_random_walk" type="double" value="1.9393e-05" />
<param name="accelerometer_noise_density" type="double" value="2.0000e-3" />
<param name="accelerometer_random_walk" type="double" value="3.0000e-3" />
<!-- camera intrinsics -->
<param name="cam0_is_fisheye" type="bool" value="false" />
<param name="cam1_is_fisheye" type="bool" value="false" />
<rosparam param="cam0_k">[458.654,457.296,367.215,248.375]</rosparam>
<rosparam param="cam0_d">[-0.28340811,0.07395907,0.00019359,1.76187114e-05]</rosparam>
<rosparam param="cam1_k">[457.587,456.134,379.999,255.238]</rosparam>
<rosparam param="cam1_d">[-0.28368365,0.07451284,-0.00010473,-3.55590700e-05]</rosparam>
<!-- camera extrinsics -->
<rosparam param="T_C0toI">
[
0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
<rosparam param="T_C1toI">
[
0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,
0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,
-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,
0.0, 0.0, 0.0, 1.0
]
</rosparam>
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find ov_msckf)/launch/display.rviz" />
</launch>