euroc_dataset.launch

<launch>

<param name="/use_sim_time" value="true"/>

<node name="player" pkg="rosbag" type="play" output="screen" args="--clock /home/z/Datasets/machine_hall/flight_5.bag"/>

<node name="time_autosync" pkg="time_autosync" type="time_autosync_node" >

    <!-- Note: all these parameters are set to these values by default, you only
     need to set them in your launch files if you want to change them to
     something else-->

    <param name="stamp_on_arrival" value="false"/>
    <param name="max_imu_data_age_s" value="2.0"/>
    <param name="delay_by_n_frames" value="5"/>
    <param name="focal_length" value="460"/>
    <param name="calc_offset" value="true"/>

    <param name="verbose" value="true"/>
    <param name="mah_threshold" value="10.0"/>
    
    <param name="inital_delta_t" value="0.05"/>
    <param name="inital_offset" value="0.0"/>
    
    <param name="inital_timestamp_sd" value="0.1"/>
    <param name="inital_delta_t_sd" value="0.1"/>
    <param name="inital_offset_sd" value="0.1"/>
    
    <param name="timestamp_sd" value="0.02"/>
    <param name="angular_velocity_sd" value="0.03"/>

    <param name="delta_t_sd" value="0.0001"/>
    <param name="offset_sd" value="0.0001"/>

    <remap from="/time_autosync/input/image" to="/jay/cam0/image_raw"/>
    <remap from="/time_autosync/input/imu" to="/jay/imu0"/>
</node>

</launch>