<launch>
    <arg name="config_path" default = "$(find feature_tracker)/../config/euroc/loop.yaml" />
	  <arg name="vins_path" default = "$(find feature_tracker)/../config/../" />

    <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find plvins_estimator)/../config/vins_rviz_config.rviz" />

    <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log">
        <param name="config_file" type="string" value="$(arg config_path)" />
        <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>

    <node name="linefeature_tracker" pkg="feature_tracker" type="LineFeature_tracker" output="log">
        <param name="config_file" type="string" value="$(arg config_path)" />
        <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>    

    <node name="plvins_estimator" pkg="plvins_estimator" type="plvins_estimator" output="log">
       <param name="config_file" type="string" value="$(arg config_path)" />
       <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>

    <node name="pose_graph" pkg="pose_graph" type="pose_graph" output="screen">
        <param name="config_file" type="string" value="$(arg config_path)" />
        <param name="visualization_shift_x" type="int" value="0" />
        <param name="visualization_shift_y" type="int" value="0" />
        <param name="skip_cnt" type="int" value="0" />
        <param name="skip_dis" type="double" value="0" />
    </node>

	<node name="image_node_b" pkg="image_node_b" type="image_node_b" output="log">
    </node>		
</launch>

