radar4motion_offline.launch

<launch>
    <node pkg="radar4motion" type="radar4motion" name="radar4motion" output="screen">
        <!-- ini path -->
        <param name="str_odom_ini_path"            value="$(find radar4motion)/config/radar_point_cloud_odometry.ini"/>
        <param name="str_radar_ego_motion_ini_path"         value="$(find radar4motion)/config/radar_ego_motion_estimation.ini"/>

        <!-- Offline version (VoD Dataset) -->
        <param name="b_flag_run_vod_dataset"                value="true"/>
        <param name="str_radar4motion_path"                 value="$(find radar4motion)"/>
        <!-- <param name="str_vod_dataset_base_path"             value="$(find radar4motion)/dataset/"/> -->
        <param name="str_vod_dataset_base_path"             value="/home/ailab/AILabDataset/01_Open_Dataset/19_ViewofDelft/"/>
        <!-- 3, 4, 9, 17, 19, 22, 23, 24 -->
        <param name="scenario_num"                      value="3"/>
        
        <!-- Set virtual frame rate for sequentially reading VoD dataset -->
        <param name="i_vod_frame_rate"                  value="100"/> 

        <!-- Set eval result file path -->
        <param name="vod_eval_folder_path"              value="$(find radar4motion)/test"/>

        <!-- Online version (ROS topic) -->
        <param name="s_input_points_"                   value="/afi910_cloud_node/cloud"/>
        <param name="str_origin_"                       value="Map"/>
        <param name="str_base_link_"                    value="radar"/>

        <param name="str_rcs_field_name_"               value="RCS"/>
        <param name="str_power_field_name_"             value="power"/>
        <param name="b_accum_whole_point_clouds_"     value="true"/>
        <param name="d_map_voxel_leaf_size_"       value="0.5"/>
        <param name="min_static_points_num"       value="15"/>
    </node>

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node pkg="rviz" type="rviz" name="rviz" args="-d $(find radar4motion)/radar_odom.rviz" />
    </group>

</launch>