Parameters in FIESTA Node

There are two types of parameters in FIESTA. Some are inside the code, which needs to direct modify code and re-compile it. It is not a good manner and will be refined in the future. Others are written in the launch file, which can be easily modified to change the parameters.

Written Inside the code

1. Here, you can choose the types of depth map message and pose message. Type of Depth Map Message is chosen from [sensor_msgs::PointCloud2::ConstPtr, sensor_msgs::Image::ConstPtr] Type of Pose Message is chosen from [geometry_msgs::PoseStamped::ConstPtr, nav_msgs::Odometry::ConstPtr, geometry_msgs::TransformStamped::ConstPtr]

Written in the launch file