CODE EXAMPLE FOR SHELL

ubuntu adding a monitor

<launch>

    <node name="run_serial_msckf" pkg="ov_msckf" type="run_serial_msckf" output="screen">
    
        <!-- bag topics -->
        <param name="topic_imu"      type="string" value="/imu0" />
        <param name="topic_camera0"  type="string" value="/cam0/image_raw" />
        <param name="topic_camera1"  type="string" value="/cam1/image_raw" />
        <rosparam param="stereo_pairs">[0,1]</rosparam>
    
        <!-- bag parameters -->
        <param name="path_bag"    type="string" value="/<path>/V1_01_easy.bag" />
        <param name="bag_start"   type="int"    value="0" />
        <param name="bag_durr"    type="int"    value="-1" />
    
        <!-- world/filter parameters -->
        <param name="max_clones"             type="int"    value="11" />
        <param name="max_slam"               type="int"    value="0" />
        <param name="max_cameras"            type="int"    value="2" />
        <param name="init_window_time"       type="double" value="0.5" />
        <param name="init_imu_thresh"        type="double" value="2.0" />
        <rosparam param="gravity">[0.0,0.0,9.81]</rosparam>
        <param name="feat_rep_msckf"         type="string" value="GLOBAL_3D" />
        <param name="feat_rep_slam"          type="string" value="GLOBAL_3D" />
    
        <!-- tracker/extractor parameters -->
        <param name="use_klt"          type="bool"   value="true" />
        <param name="fast_threshold"   type="int"    value="10" />
        <param name="grid_x"           type="int"    value="5" />
        <param name="grid_y"           type="int"    value="3" />
        <param name="min_px_dist"      type="int"    value="10" />
        <param name="num_pts"          type="int"    value="400" />
    
        <!-- sensor noise values / update -->
        <param name="up_msckf_sigma_px"            type="double"   value="1" />
        <param name="up_msckf_chi2_multipler"      type="double"   value="1" />
        <param name="gyroscope_noise_density"      type="double"   value="1.6968e-04" />
        <param name="gyroscope_random_walk"        type="double"   value="1.9393e-05" />
        <param name="accelerometer_noise_density"  type="double"   value="2.0000e-3" />
        <param name="accelerometer_random_walk"    type="double"   value="3.0000e-3" />
    
        <!-- camera intrinsics -->
        <param name="cam0_is_fisheye" type="bool" value="false" />
        <param name="cam1_is_fisheye" type="bool" value="false" />
        <rosparam param="cam0_k">[458.654,457.296,367.215,248.375]</rosparam>
        <rosparam param="cam0_d">[-0.28340811,0.07395907,0.00019359,1.76187114e-05]</rosparam>
        <rosparam param="cam1_k">[457.587,456.134,379.999,255.238]</rosparam>
        <rosparam param="cam1_d">[-0.28368365,0.07451284,-0.00010473,-3.55590700e-05]</rosparam>
    
        <!-- camera extrinsics -->
        <rosparam param="T_C0toI">
            [
            0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
            0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
            -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
            0.0, 0.0, 0.0, 1.0
            ]
        </rosparam>
        <rosparam param="T_C1toI">
            [
            0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,
            0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,
            -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,
            0.0, 0.0, 0.0, 1.0
            ]
        </rosparam>
    
    </node>
    
    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find ov_msckf)/launch/display.rviz" />
    
</launch>