kitti_continue_player.launch

<?xml version="1.0" encoding="utf-8"?>

<launch>
    <!-- Keyboard listener is based on Linux input subsystem -->
    <arg name="keyboard_file" default="/dev/input/event3" />

    <arg name="mode" default="play" />

    <!-- default 10Hz, the same as LiDAR -->
    <!--<arg name="fps" default="8" />-->
    <!-- for learning node training -->
    <arg name="fps" default="0.5" />

    <arg name="dataset_file" default="$(find kitti_ros)/../../data/training_datasets.txt"/>

    <arg name="filter_by_camera_angle" default="true"/>
    <!--<arg name="filter_by_camera_angle" default="false"/>-->

    <!-- load -->
    <node name="kitti_player" pkg="kitti_ros" type="kitti_continue_player.py" output="screen">
        <param name="keyboard_file" value="$(arg keyboard_file)"/>
        <param name="mode" value="$(arg mode)"/>
        <param name="fps" value="$(arg fps)"/>
        <param name="dataset_file" value="$(arg dataset_file)"/>

        <!-- []  means no forground objects -->
        <!--<rosparam param="care_objects">[]</rosparam>-->
        <!--<rosparam param="care_objects">['Car','Van','Truck','Pedestrian','Sitter','Cyclist','Tram','Misc']</rosparam>-->
        <!--Only Vehicles-->
        <!--<rosparam param="care_objects">['Car', 'Van', 'Truck']</rosparam>-->
        <!--Foreground Objects-->
        <rosparam param="care_objects">['Car','Van','Truck','Pedestrian','Cyclist']</rosparam>

        <param name="filter_by_camera_angle" value="$(arg filter_by_camera_angle)"/>
    </node>


</launch>