<!--
This launch file was written to calibrate a Kinova Mico robot with an Asus Xtion Pro mounted on its wrist,
without the use of fiducials. Modify it to suit your needs.
-->
<launch>
     <node name="arm_slam_calib" pkg="arm_slam_calib" type="real" output="screen">
     <!-- Set this to 'true' if you are running from a bag file or are using /clock -->
     <param name="use_sim_time"                   value="true" />
     <!-- Variance on the joint encoder readings in radians. Higher means more noise -->
     <param name="encoder_noise_level"            value="0.01"/>
     <!-- Noise on the extrinsic initial guess in meters. Higher means less certainty -->
     <param name ="extrinsic_noise_level"         value="0.2"/>
     <!-- Noise on the extrinsic initial guess in radians. Higher means less certainty -->
     <param name="extrinsic_rot_noise_level"      value="0.1"/>
     <!-- Noise on landmark locations in meters. Higher means less certainty -->
     <param name="landmark_noise_level"           value="20.0"/>
     <!-- Noise in the camera projection function in pixels. Higher means less certainty. -->
     <param name="projection_noise_level"         value="1.0"/>
     <!-- Whether or not to use RANSAC to estimate the depth of landmrks. 
          Turning this off improves speed, but landmarks will have random initial depths -->
     <param name="run_ransac"                     value="true"/>
     <!-- When true, saves debug images of landmarks. WARNING: very slow! -->
     <param name="save_images"                    value="false"/>
     <!-- When true, uses depth images to create low-rez point clouds for visualization -->
     <param name="generate_stitched_point_clouds" value="true"/>
     <!-- When true, uses depth images to create a live point cloud for visualization -->
     <param name="generate_current_point_cloud"   value="true"/>
     <!-- When true, dsplays a ghostly robot in rviz representing the estimated
          joint angles -->
     <param name="draw_estimate_robot"            value="false"/>
     <!-- When true, turns on a deadband in which encoder readings are believed
          to be inaccurate -->
     <param name="use_encoder_deadband"           value="false"/>
     <!-- Size of the encoder deadband in radians -->
     <param name="encoder_deadband"               value="0.05"/>
     <!-- SLAM method to use. Valid methods are ISAM, BatchLM, and BatchDogleg -->
     <param name="optimization_mode"              value="ISAM"/>
     <!-- Region of interest on the camera in pixels. -->
     <param name="min_x"                      value="0"/>
     <param name="min_y"                      value="0"/>
     <param name="max_x"                      value="99999"/>
     <param name="max_y"                      value="99999"/>
     <!-- When true, matches features between images. Turn off to completely
          disable visual SLAM -->
     <param name="do_feature_matching"            value="true"/>
     <!-- Threshold on hamming distance for BRISK feature matches. Lower values
          result in fewer false positives -->
     <param name="hamming_threshold"              value="60"/>
     <!-- A feature will only be matched when its score relative to the next
          best score exceeds this value. -->
     <param name="ratio_threshold"                value="1.25"/>
     <!-- When true, draws successfully matched features in RVIZ -->
     <param name="draw_good_features"             value="true"/>
     <!-- When true, draws lines representing successfull matches in RVIZ -->
     <param name="draw_good_matches"              value="true"/>
     <!-- When true, draws unsucessfully matched features in RVIZ -->
     <param name="draw_bad_features"              value="false"/>
     <!-- When true, draws matches between features that didn't meet the required
          thresholds as red lines -->
     <param name="draw_bad_matches"               value="false"/>
     <!-- When true, draws all candidate landmarks in RVIZ (not just matched
          candidates) as yellow dots. -->
     <param name="draw_candidates"                value="false"/>
     <!-- When true, draws a grid below the robot in RVIZ. -->
     <param name="draw_grid"                      value="true"/>
     <!-- These joints in the URDF will be optimized. All other joints will be 
          considered to have no uncertainty -->
     <param name="free_joints"                    value="[mico_joint_1, mico_joint_2, mico_joint_3, mico_joint_4, mico_joint_5, mico_joint_6]"/>
     <!-- Link in the URDF that the camera is mounted to. Extrinsic will be reported
          relative to this link -->
     <param name="camera_mount_link"              value="mico_end_effector"/>
     <!-- Location of the robot's URDF. package://, file:// or http:// can be used. -->
     <param name="urdf"                           value="package://ada_description/robots/mico.urdf"/>
     <!-- Topic that the camera is publishing color images to (mono also works)-->
     <param name="rgb_topic"                      value="/camera/rgb/image_rect_color"/>
     <!-- Topic containing the camera intrinsics (must be pre-calibrated) -->
     <param name="rgb_info"                       value="/camera/rgb/camera_info"/>
     <!--- (optional) The topic of a depth camera for visualization -->
     <param name="depth_topic"                    value="/camera/depth/image_rect_raw"/>
     <!-- (optional) The camera info topic of a depth camera for visualization -->
     <param name="depth_info"                     value="/camera/depth/camera_info"/>
     <!-- Topic containing the robot joint angles -->
     <param name="joint_state_topic"              value="/mico_arm_driver/out/joint_state"/>
     <!-- Initial guess of the camera extrinsic w.r.t the robot's link in meters. -->
     <rosparam param="extrinsic_initial_guess_translation">[0.0136688, 0.0486435, -0.0924387]</rosparam>
     <!-- Initial guess of the camera extrinsic Euler angles -->
     <rosparam param="extrinsic_initial_guess_rotation">[0, 0, 3.14159]</rosparam>
     <!-- Smoothness parameter in radians. Turn on when velocity measurements unavailable -->
     <param name="drift_noise"    value="0.05"/>
     <!-- Smoothness parameter. Use only when velocit measurements unavailable -->
     <param name="use_drift_noise" value="false"/>
     <!-- Robustness parameter for rejecting outliers. Higher values mean less 
          sensitivity to outliers but slower convergence. -->
     <param name="robust_cauchy_multiplier" value="3.0"/>
     <!-- When true, draws 3D landmarks to RVIZ -->
     <param name="draw_landmarks" value="true"/>
     <!-- When true, draws stitched point clouds to RVIZ -->
     <param name="draw_pointclouds" value="true"/>
     <!-- When true, draws the marginal covariance of the camera extrinsic
          to RVIZ as a yellow spheroid. -->
     <param name="draw_extrinsic_marginal" value="false"/>
     <!-- When true, draws observations to landmarks as lines in RVIZ -->
     <param name="draw_observation" value="false"/>
     <!-- When true, draws the camera's trajectory as a line in RVIZ -->
     <param name="draw_trajectory" value="false"/>
     <!-- Threshold in radians in which to accept a new keyframe for the SLAM
          system. Smaller values mean more keyframes but slower performance -->
     <param name="keyframe_threshold" value="0.05"/>
     <!-- This can be set to false to completely turn off SLAM for debugging
          purposes -->
     <param name="do_slam" value="true"/>
     <!-- When true, saves the stitched point clouds to a file on exit -->
     <param name="save_pointcloud" value="false"/>
     <!-- When true, saves some statistics about the SLAM system to ~/.ros -->
     <param name="save_stats" value="true"/>
    </node>
</launch>