New VIO demo yaml file

yaml/demo_visual_inertial_odometry_euroc.yaml

+config:
+
+  debug:
+    profiling: true
+    profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
+    print_problem: false
+    print_depth: 4            # only if print_problem
+    print_constr_by: true     # only if print_problem
+    print_metric: false        # only if print_problem
+    print_state_blocks: false  # only if print_problem
+    print_period: 1           # only if print_problem
+
+  problem:
+    node_rate: 20
+    follow: "tree_manager_sliding.yaml"
+    frame_structure: "POV"
+    dimension: 3
+    prior:
+      mode: "factor"
+      $state:
+        P: [0,0,0]
+        # P: [0,0,0.5]
+        O: [0,0,0,1]
+        # O: [0, 0.20791169, 0, 0.9781476]  # x,y,z,w
+        V: [0,0,0]
+      $sigma:
+       P: [0.00001, 0.00001, 0.00001]
+       O: [0.01, 0.01, 0.01]
+       V: [1,1,1]
+      time_tolerance: 0.0025
+
+  solver:
+    follow: "solver.yaml"
+
+  sensors:
+    -
+      type: "SensorCamera"
+      name: "CAMERA"
+      plugin: "vision"
+      extrinsic:
+#         pose: [0,0,0, 0.5,-0.5,0.5,-0.5]
+        pose: [0.0098,0.0647,-0.0216, 0.7071068, 0, 0.7071068, 0] # orientation wrt IMU in vi-sensor, https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
+        # pose: [-0.0216,-0.0647,0.0098,  -0.0077072, 0.0104967, 0.7017528, 0.7123015] # according to mav0/cam0/sensor.yaml in dataset
+      using_raw: false
+      follow: "camera_euroc_mav0.yaml"
+    -
+      type: "SensorImu"
+      name: "IMU"
+      plugin: "imu"
+      extrinsic:
+        pose:  [0,0,0, 0,0,0,1]
+      follow: "vi_sensor_imu.yaml"
+
+  processors:
+    -
+      type: "ProcessorVisualOdometry"
+      name: "VISUALODOMETRY PROC"
+      sensor_name: "CAMERA"
+      plugin: "vision"
+      follow: "processor_visual_odometry.yaml"
+    -
+      type: "ProcessorImu"
+      name: "IMU PROC"
+      sensor_name: "IMU"
+      plugin: "imu"
+      apply_loss_function: false
+      follow: "processor_imu.yaml"
+      state_getter: true
+      state_priority: 1
+
+  ROS subscriber:
+    -
+      package: "wolf_ros_vision"
+      type: "SubscriberCamera"
+      topic: "/cam0/image_rect"
+      sensor_name: "CAMERA"
+    -
+      package: "wolf_ros_imu"
+      type: "SubscriberImu"
+      topic: "/imu0"
+      sensor_name: "IMU"
+      imu_x_axis: 1
+      imu_y_axis: 2
+      imu_z_axis: 3
+      cov_source: "sensor"
+      in_degrees: false
+
+  ROS publisher:
+    -
+      type: "PublisherGraph"
+      topic: "graph"
+      package: "wolf_ros_node"
+      period: 0.2
+      viz_scale: 0.3
+      text_scale: 0.1
+      landmark_text_z_offset: 0.3
+      landmark_length: 0.5
+      frame_width: 0.01
+      frame_length: 0.1
+      frame_vel_scale: 1.0
+      factors_width: 0.01
+      factor_lmk_color: [0, 1, 1, 0.005]
+
+    -
+      type: "PublisherTf"
+      topic: " "
+      package: "wolf_ros_node"
+      period: 0.2
+      map_frame_id: "map"
+      odom_frame_id: "odom"
+      base_frame_id: "base_footprint"
+      publish_odom_tf: true
+
+    -
+      type: "PublisherVisionDebug"
+      processor_name: "VISUALODOMETRY PROC"
+      topic: "/debug_image"
+      topic_preprocessor: "/debug_image_preprocessor"
+      package: "wolf_ros_vision"
+      period: 0.05
+      follow: "publisher_vision_debug.yaml"
+