Add svo launch configuration. Now need calibration file

launch/bottom-cam.launch

@@ -1,26 +1,36 @@
 <launch>
   <!-- Set this to your camera's name -->
-  <arg name="cam_name" value="bottom_camera" />
+  <arg name="camera_name" value="bottom_camera" />
 
   <!-- Start the GSCAM node -->
   <!-- See `tcam-ctrl -c <serial number>` for available frame rates and resolutions -->
   <arg name="fps" default="30" />
   <arg name="width" default="640" />
   <arg name="height" default="480" />
   <env name="GSCAM_CONFIG" value="tcambin ! video/x-raw,format=BGRx,width=$(arg width),height=$(arg height),framerate=$(arg fps)/1 ! videoconvert ! video/x-raw,format=RGB,width=$(arg width),height=$(arg height),framerate=$(arg fps)/1 ! videoconvert" />
-  <node pkg="gscam" type="gscam" name="$(arg cam_name)" respawn="true" respawn_delay="0">
-    <param name="camera_name" value="$(arg cam_name)" />
-    <param name="camera_info_url" value="file://$(find robosub)/param/bottom_camera.yaml" />
-    <remap from="/camera/image_raw" to="/$(arg cam_name)/image_raw" />
-  </node>
 
-  <!-- Provide rectification -->
-  <!-- <node pkg="image_proc" type="image_proc" name="creative_image_proc" -->
-  <!--       ns="$(arg cam_name)" /> -->
+  <group ns="$(arg camera_name)">
+    <node pkg="nodelet" type="nodelet"
+      name="bottom_camera_nodelet" args="manager"
+      output="screen"/>
+
+    <node pkg="nodelet" type="nodelet"
+      name="$(arg camera_name)" 
+      args="load gscam/GSCamNodelet bottom_camera_nodelet" 
+      output="screen">
+      <param name="camera_name" value="$(arg camera_name)"/>
+      <param name="frame_id" value="/$(arg camera_name)_frame"/>
+      <remap from="camera/image_raw" to="image_raw" />
+    </node> 
+
+    <node pkg="nodelet" type="nodelet" name="debayer"
+      args="load image_proc/debayer bottom_camera_nodelet"
+      respawn="true"/>
+  </group>
 
   <!-- View the raw and rectified output -->
   <!-- <node pkg="image_view" type="image_view" name="creative_view" > -->
-  <!--   <remap from="image" to="/$(arg cam_name)/image_raw" /> -->
+  <!--   <remap from="image" to="/$(arg camera_name)/image_raw" /> -->
   <!-- </node> -->
 
 </launch>

launch/svo.launch

@@ -0,0 +1,16 @@
+<launch>
+    <arg name="cam_name" default="bottom_camera" />
+    <arg name="output" default="screen" />
+    <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="$(arg output)">
+
+        <!-- Camera topic to subscribe to -->
+        <param name="cam_topic" value="/$(arg cam_name)/image_raw" type="str" />
+
+        <!-- Camera calibration file -->
+        <rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
+
+        <!-- Default parameter settings: choose between vo_fast and vo_accurate -->
+        <rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
+
+    </node>
+</launch>