fusion_example.launch

<?xml version="1.0"?>
<launch>
	<arg name="fcu_url" default="serial:///dev/ttyACM0:921600" />
	<arg name="gcs_url" default="udp://:14556@192.168.0.105:14550" />
	<arg name="tgt_system" default="1" />
	<arg name="tgt_component" default="50" />


    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find svo_ros)/rviz_config.rviz"/>

    <node pkg="rosbag" type="play" name="bagplay_airground" args="$(find svo_ros)/bag/airground.bag" output="screen">
    </node>
 

    <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
        <param name="cam_topic" value="/camera/image_raw" type="str" />
        <rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
        <rosparam file="$(find svo_ros)/param/vo_px4.yaml" />
        <rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
	<param name="accept_console_user_input" value="true" />
	<param name="publish_world_in_cam_frame" value="false" />
	<param name="init_rx" value="3.1415289878" />
    </node>
 

    <node name="msf_pose_sensor" pkg="msf_updates" type="pose_sensor" clear_params="true" output="screen" >
        <remap from="msf_core/imu_state_input" to="/mavros/imu/data" />
        <remap from="msf_updates/pose_with_covariance_input" to="/svo/pose" />
	<rosparam file="$(find msf_updates)/px4_svo_sensor_fix.yaml"/>
   </node>
 
</launch>