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Add world_frame argument to launch files for customization #91

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Add world_frame argument to launch files for customization #91

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2 changes: 2 additions & 0 deletions kimera_semantics_ros/launch/kimera_semantics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
- 2. Or, if you want to use simulator's ground-truth: `left_cam`
-->
<arg name="sensor_frame" default="left_cam"/>
<arg name="world_frame" default="world"/>

<!-- If you want to play directly from a rosbag -->
<arg name="play_bag" default="false"/>
Expand Down Expand Up @@ -105,6 +106,7 @@
<param name="use_freespace_pointcloud" value="$(arg use_freespace_pointcloud)" />
<remap from="freespace_pointcloud" to="$(arg freespace_pointcloud)"/>

<param name="world_frame" value="$(arg world_frame)"/>
<param name="sensor_frame" value="$(arg sensor_frame)"/>
<param name="use_tf_transforms" value="true" />

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1 change: 1 addition & 0 deletions kimera_semantics_ros/launch/kimera_semantics_euroc.launch
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Expand Up @@ -6,6 +6,7 @@

<!-- We use VIO's estimated base_link: `left_cam_base_link` -->
<arg name="sensor_frame" default="cam0"/>
<arg name="world_frame" default="world"/>

<!-- If you want to play directly from a rosbag -->
<arg name="play_bag" default="false"/>
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