From 898deec6bed751612a1fb151de1130355b6d90f8 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 00:11:04 +0200
Subject: [PATCH] tune node and publishers for speed adapted to rosbag
---
yaml/demo_visual_odometry_euroc.yaml | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index f2d3277..df2e0dc 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -11,7 +11,7 @@ config:
print_period: 1 # only if print_problem
problem:
- node_rate: 100
+ node_rate: 20
follow: "tree_manager_sliding.yaml"
frame_structure: "PO"
dimension: 3
@@ -57,7 +57,7 @@ config:
type: "PublisherGraph"
topic: "graph"
package: "wolf_ros_node"
- period: 0.1
+ period: 0.2
viz_scale: 0.3
text_scale: 0.1
landmark_text_z_offset: 0.3
@@ -82,7 +82,7 @@ config:
topic: "/debug_image"
topic_preprocessor: "/debug_image_preprocessor"
package: "wolf_ros_vision"
- period: 0.25
+ period: 0.2
tracks:
show_id: false
size_id: 0.75
--
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