launch file and parameter for ARM

svo_ros/launch/run_from_topic_arm.launch

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+<launch>
+  <arg name="cam_name" />
+  <arg name="calib_file" default="$(find svo_ros)/calib/$(arg cam_name).yaml"/>
+
+  <!-- SVO node -->
+  <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen">
+
+    <!-- Camera topic to subscribe to -->
+    <param name="cam0_topic" value="camera/image_raw" type="str" />
+
+    <!-- Camera calibration file -->
+    <param name="calib_file" value="$(arg calib_file)" />
+
+    <!--Parameters-->
+    <!-- <rosparam file="$(find svo_ros)/param/pinhole.yaml" /> -->
+    <rosparam file="$(find svo_ros)/param/fast_pinhole.yaml" />
+    <param name="publish_img_pyr_level" value="2" />
+    <param name="publish_every_nth_img" value="10" />
+
+  </node>
+</launch>

svo_ros/param/fast_pinhole.yaml

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+map_scale: 1.0
+relocalization_max_trials: 100
+
+# The number of features and quality criteria
+max_fts: 120
+# If the number of features is lower, considered as failure.
+quality_min_fts: 70
+# If the number of features decreases more than this value, considered as failure.
+quality_max_drop_fts: 40
+
+# Use forward looking mode
+kfselect_criterion: FORWARD 
+# Based on the number of landmarks (NOT seeds)
+kfselect_numkfs_upper_thresh: 110
+kfselect_numkfs_lower_thresh: 70
+# must have enough disparity w.r.t. the last keyframe
+kfselect_min_disparity: 40
+# should be sufficiently far from any keyframes
+kfselect_min_angle: 10
+kfselect_min_dist_metric: 0.01
+# If it is acutally used as a forward looking camera
+# set this value to true 
+update_seeds_with_old_keyframes: True