FPGA-based-DS-SLAM/DS_SLAM_HERO.launch at master · ivipsourcecode/FPGA-based-DS-SLAM · GitHub

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<launch>

	<!-- orb slam  -->
	<node pkg="ORB_SLAM2_PointMap_SegNetM" name="DS_TUM" type="DS_TUM" args="$(find ORB_SLAM2_PointMap_SegNetM)/../../../Vocabulary/ORBvoc.txt $(find ORB_SLAM2_PointMap_SegNetM)/TUM3.yaml PATH_TO_SEQUENCE PATH_TO_SEQUENCE/associate.txt $(find ORB_SLAM2_PointMap_SegNetM)/SegNet/result0102.dat $(find ORB_SLAM2_PointMap_SegNetM)/SegNet/segnet_weight_withoutbn_0102.dat $(find ORB_SLAM2_PointMap_SegNetM)/SegNet/fracw_fracb_pascal_0102.dat $(find ORB_SLAM2_PointMap_SegNetM)/tools/pascal.png $(find ORB_SLAM2_PointMap_SegNetM)/libsegmentation/segnet_test_4_1228_hhz.aocx" output="screen" />

	<!-- Run other launch file -->
    <include file="$(find ORB_SLAM2_PointMap_SegNetM)/launch/Octomap.launch" />
	<include file="$(find ORB_SLAM2_PointMap_SegNetM)/launch/transform.launch" />
	<node pkg="rviz" name="rviz" type="rviz" />

</launch>