add loitor config

config/loitor/loitor_config.yaml

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+%YAML:1.0
+
+#common parameters
+imu_topic: "/imu0"
+image_topic: "/cam0/image_raw"
+output_path: "/config/loitor/vins_result.csv"         # vins outputs will be wrttento vins_folder_path + output_path
+
+#camera calibration 
+model_type: MEI
+camera_name: camera
+image_width: 752
+image_height: 480
+mirror_parameters:
+   xi: 5.9080254303887356e+00
+distortion_parameters:
+   k1: -9.7010482866651282e-01
+   k2: 9.0854285568221620e+00
+   p1: -8.8740061896374900e-03
+   p2: 1.4867641178997661e-04
+projection_parameters:
+   gamma1: 3.2367070160240969e+03
+   gamma2: 3.2362264175627506e+03
+   u0: 3.9905044304547499e+02
+   v0: 2.2092609726522585e+02
+
+# Extrinsic parameter between IMU and Camera.
+estimate_extrinsic: 1   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
+                        # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
+                        # 2  Don't know anything about extrinsic parameters. You don't need to give R,T. We will try to calibrate it. Do some rotation movement at beginning. 
+ex_calib_result_path: "/config/loitor/ex_calib_result.yaml"  # If you choose 1 or 2, the extrinsic calibration result will be written vins_folder_path + ex_calib_result_path.                        
+#If you choose 0 or 1, you should write down the following matrix.
+#Rotation from camera frame to imu frame, imu^R_cam
+extrinsicRotation: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [0, -1, 0, 
+           -1, 0, 0, 
+           0, 0, -1]
+#Translation from camera frame to imu frame, imu^T_cam
+extrinsicTranslation: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [-0.01, 0.05, 0.00]
+
+#feature traker paprameters
+max_cnt: 150            # max feature number in feature tracking
+min_dist: 30            # min distance between two features 
+freq: 10                # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image 
+F_threshold: 1.0        # ransac threshold (pixel)
+show_track: 1           # publish tracking image as topic
+equalize: 0             # if image is too dark or light, trun on equalize to find enough features
+fisheye: 0              # if using fisheye, trun on it. A circle mask will be loaded to remove edge noisy points
+
+#optimization parameters
+max_solver_time: 0.04  # max solver itration time (ms), to guarantee real time
+max_num_iterations: 8   # max solver itrations, to guarantee real time
+keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
+
+#imu parameters       The more accurate parameters you provide, the better performance
+acc_n: 0.2          # accelerometer measurement noise standard deviation. #0.2
+gyr_n: 0.02         # gyroscope measurement noise standard deviation.     #0.05
+acc_w: 0.002         # accelerometer bias random work noise standard deviation.  #0.02
+gyr_w: 2.0e-4       # gyroscope bias random work noise standard deviation.     #4.0e-5
+g_norm: 9.81007     # gravity magnitude
+
+
+#loop closure parameters
+loop_closure: 0   #if you want to use loop closure to minimize the drift, set loop_closure true and give your brief pattern file path and vocabulary file path accordingly;
+                     #also give the camera calibration file same as feature_tracker node
+pattern_file: "/support_files/brief_pattern.yml"
+voc_file: "/support_files/brief_k10L6.bin"
+min_loop_num: 25
+
+

vins_estimator/launch/loitor.launch

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+<launch>
+    <arg name="config_path" default = "$(find feature_tracker)/../config/loitor/loitor_config.yaml" />
+	  <arg name="vins_path" default = "$(find feature_tracker)/../config/../" />
+
+    <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log">
+        <param name="config_file" type="string" value="$(arg config_path)" />
+        <param name="vins_folder" type="string" value="$(arg vins_path)" />
+    </node>
+
+    <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="screen">
+       <param name="config_file" type="string" value="$(arg config_path)" />
+       <param name="vins_folder" type="string" value="$(arg vins_path)" />
+    </node>
+
+</launch>