diff --git a/svo_ros/launch/frontend/t265_stereo_frontend_imu.launch b/svo_ros/launch/frontend/t265_stereo_frontend_imu.launch
new file mode 100644
index 0000000..44aac5c
--- /dev/null
+++ b/svo_ros/launch/frontend/t265_stereo_frontend_imu.launch
@@ -0,0 +1,18 @@
+<launch>
+  <!-- SVO -->
+  <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen">
+    <!-- Camera and IMU topics to subscribe to -->
+    <param name="cam0_topic" value="/camera/fisheye1/image_raw" type="str" />
+    <param name="cam1_topic" value="/camera/fisheye2/image_raw" type="str" />
+    <param name="imu_topic" value="/camera/imu" type="str" />
+    <param name="calib_file" value="$(find svo_ros)/param/calib/t265_stereo.yaml" type="str" />
+
+    <rosparam file="$(find svo_ros)/param/pinhole.yaml" />
+    <rosparam file="$(find svo_ros)/param/frontend_imu/t265_stereo_imu.yaml" />
+
+  </node>
+
+  <!-- RVIZ + SVO GUI -->
+  <node name="vis" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" />
+  <node name="svo_gui" pkg="rqt_gui" type="rqt_gui" args="-s rqt_svo.svo.Svo --args --topic svo" />
+</launch>
diff --git a/svo_ros/launch/t265_vio_stereo.launch b/svo_ros/launch/t265_vio_stereo.launch
new file mode 100644
index 0000000..cdcb869
--- /dev/null
+++ b/svo_ros/launch/t265_vio_stereo.launch
@@ -0,0 +1,28 @@
+<!-- Launch File for running svo with ceres backend from bag-file -->
+<launch>
+  <arg name="calib_file" default="$(find svo_ros)/param/calib/t265_stereo.yaml"/>
+
+  <!-- SVO node -->
+  <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen" args="--v=41">
+
+    <!-- Camera topic to subscribe to -->
+    <param name="cam0_topic" value="/camera/fisheye1/image_raw" type="str" />
+    <param name="cam1_topic" value="/camera/fisheye2/image_raw" type="str" />
+
+    <!-- Imu topic to subscribe to -->
+    <param name="imu_topic" value="/camera/imu" type="str" />
+
+    <!-- Camera calibration file -->
+    <param name="calib_file" value="$(arg calib_file)" />
+
+    <!--Parameters-->
+    <rosparam file="$(find svo_ros)/param/t265_custom.yaml" />
+    <param name='runlc' value='true' />
+    <param name="voc_path" value="$(find svo_online_loopclosing)/vocabularies/" type="str" />
+
+  </node>
+
+  <!-- RVIZ -->
+  <node name="vis" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config_vio.rviz" />
+
+</launch>
diff --git a/svo_ros/param/calib/t265_stereo.yaml b/svo_ros/param/calib/t265_stereo.yaml
new file mode 100644
index 0000000..3bd3c91
--- /dev/null
+++ b/svo_ros/param/calib/t265_stereo.yaml
@@ -0,0 +1,74 @@
+label: "Euroc"
+id: 412eab8e4058621f7036b5e765dfe812
+cameras:
+- camera:
+    label: cam0
+    id: 54812562fa109c40fe90b29a59dd7798
+    line-delay-nanoseconds: 0
+    image_height: 800
+    image_width: 848
+    type: pinhole
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [277.0445787929248, 277.14615490978844, 420.97809743706387, 392.82001689694226]
+    distortion:
+      type: equidistant
+      parameters:
+        cols: 1
+        rows: 4
+        data: [0.0012262003484254352, 0.041669505142064446, -0.042504671644806195, 0.008307891]
+  T_B_C:
+    cols: 4
+    rows: 4
+    data:  [-0.9999765267937457, 0.00020386038077828823, 0.006848671583756485, 0.0029498226056356527,
+          -0.0001673252362911382, -0.9999857559513914, 0.005334781775259225, 0.003687514981641677,
+          0.006849661581589615, 0.00533351059523526, 0.999962317190477, -0.00923533813344655,
+          0.0, 0.0, 0.0, 1.0]
+- camera:
+    label: cam1
+    id: 54812562fa109c40fe90b29a59dd7723
+    line-delay-nanoseconds: 0
+    image_height: 800
+    image_width: 848
+    type: pinhole
+
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [277.8972202765922, 277.897738713966, 421.13881158147956, 390.634827629262]
+    distortion:
+      type: equidistant
+      parameters:
+        cols: 1
+        rows: 4
+        data: [0.011720860001486453, 0.020472230492371325, -0.026529055095152156, 0.0044605227]
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [-0.9999802158592209, 0.006230654419457367, 0.0008641965351877218, -0.055741114618795086,
+          -0.006226692966309875, -0.9999704286877588, 0.004513318593175735, 0.003714080680358162,
+          0.0008922919082011314, 0.004507848214558144, 0.9999894415040718, -0.009767379716986362,
+          0.0, 0.0, 0.0, 1.0]
+
+imu_params:
+  delay_imu_cam: 0.0086270629562066
+  max_imu_delta_t: 0.01
+  acc_max: 176.0
+  omega_max: 17
+  sigma_omega_c: 0.01
+  sigma_acc_c: 0.1
+  sigma_omega_bias_c: 0.03
+  sigma_acc_bias_c: 0.1
+  sigma_integration: 0.0
+  g: 9.8082
+  imu_rate: 200
+
+imu_initialization:
+  velocity: [0.0, 0, 0.0]
+  omega_bias: [0.0, 0, 0.0]
+  acc_bias: [0.0, 0.0, 0.0]
+  velocity_sigma: 2.0
+  omega_bias_sigma: 0.01
+  acc_bias_sigma: 0.1
+
diff --git a/svo_ros/param/frontend_imu/t265_stereo_imu.yaml b/svo_ros/param/frontend_imu/t265_stereo_imu.yaml
new file mode 100644
index 0000000..63ec929
--- /dev/null
+++ b/svo_ros/param/frontend_imu/t265_stereo_imu.yaml
@@ -0,0 +1,39 @@
+pipeline_is_stereo: True
+
+grid_size: 35
+use_async_reprojectors: True
+use_imu: True
+poseoptim_prior_lambda: 0.0
+img_align_prior_lambda_rot: 0.5
+img_align_prior_lambda_trans: 0.0
+
+# If set to false, we process the next frame(s) only when the depth update is finished
+use_threaded_depthfilter: False
+# if the number of features are below this number, consider as failure
+quality_min_fts: 40
+# if the number of features reduce by this number for consecutive frames, consider as failure
+
+max_depth_inv: 0.1
+min_depth_inv: 10.0
+mean_depth_inv: 0.5
+
+map_scale: 5.0
+kfselect_criterion: FORWARD
+kfselect_numkfs_upper_thresh: 180
+kfselect_numkfs_lower_thresh: 90
+kfselect_min_dist_metric: 0.001
+kfselect_min_angle: 6
+kfselect_min_disparity: 40
+kfselect_min_num_frames_between_kfs: 0
+
+img_align_est_illumination_gain: true
+img_align_est_illumination_offset: true
+depth_filter_affine_est_offset: true
+depth_filter_affine_est_gain: true
+reprojector_affine_est_offset: true
+reprojector_affine_est_gain: true
+
+
+# Disable ceres backend
+# use_ceres_backend: false
+use_ceres_backend: true
diff --git a/svo_ros/param/t265_custom.yaml b/svo_ros/param/t265_custom.yaml
new file mode 100644
index 0000000..d7c0f71
--- /dev/null
+++ b/svo_ros/param/t265_custom.yaml
@@ -0,0 +1,267 @@
+############################
+##### Basic parameters #####
+############################
+
+# Automatic initialisation
+automatic_reinitialization: True
+
+# Pipeline type
+pipeline_is_stereo: True
+
+# Feature and keyframe number
+# To run faster, you can decrease `max_fts` and `max_n_kfs`, for example:
+# max_fts: 120
+# max_n_kfs: 5
+# max_fts: 120
+# max_n_kfs: 10
+max_fts: 180
+max_map_fts: 300
+# max_fts: 220
+max_n_kfs: 10
+quality_min_fts: 40
+
+# Map scale when initialized (not used for stereo)
+# Increase if the initial scene depth is larger
+map_scale: 1.5
+
+# Initial rotation
+T_world_imuinit/qx: 0
+T_world_imuinit/qy: 0
+T_world_imuinit/qz: 0
+T_world_imuinit/qw: 1
+
+# Keyframe selection
+kfselect_criterion: FORWARD    # alterntive: DOWNLOOKING
+# The following kfselect_* ONLY affects FORWARD
+# If the number of features: >upper, no keyframe; <lower, take keyframe
+kfselect_numkfs_upper_thresh: 140
+kfselect_numkfs_lower_thresh: 100
+# If the current frame is within the following range of any visible keyframes,
+# do not take a new keyframe.
+# You can lower these values for more keyframes
+kfselect_min_dist_metric: 0.1
+kfselect_min_angle: 20
+# If the median disparity from the last keyframe is smaller,
+# do not take a new keyframe
+# You can lower this value for more keyframes
+kfselect_min_disparity: 40
+# When taking a new keyframe,
+# we can already update the newly initialized seeds with old keyframes.
+# This is important for forward looking case.
+update_seeds_with_old_keyframes: True
+
+# Default affine compensation parameters
+# Most of the parameters are set to false for the consideration of processing time.
+# If you observe bad tracking because of light/expousre change,
+# enable the following parameters.
+img_align_est_illumination_gain: true
+img_align_est_illumination_offset: true
+depth_filter_affine_est_offset: true
+depth_filter_affine_est_gain: false
+reprojector_affine_est_offset: true
+reprojector_affine_est_gain: false
+
+########################################
+###### Tuning for each module ##########
+########################################
+# Initialization
+# For a higher resolution, increase the value accordingly.
+init_min_features: 100
+init_min_disparity: 30
+
+# Feature Detection
+grid_size: 25 # Larger for larger images, for every cell you have max one feature.
+n_pyr_levels: 3 # Increase for larger images (image align max minus one)
+detector_threshold_primary: 10 # Fast detector threshold
+detector_threshold_secondary: 200 # Edgelet detector threshold
+detector_threshold_shitomasi: 50 # Map Point detector threshold
+
+# Image Alignment
+img_align_max_level: 4 # Increase this level by one if the image is double the width and height (752x480).
+img_align_min_level: 2
+
+# Reprojection
+use_async_reprojectors: False # For stereo, change it to True for multithreading.
+reprojector_max_n_kfs: 5 # Local map size. Larger is computationally more intensive. More reduces drift.
+scan_epi_unit_sphere: true # for wide angle lens, set it to True.
+reproject_unconverged_seeds: True
+max_unconverged_seeds_ratio: 0.2
+
+# Pose Optimization
+poseoptim_thresh: 2.0 # Reprojection outlier threshold (px), should be larger for larger  images.
+poseoptim_using_unit_sphere: False # For wide angle lens, set it to True
+
+# Depth Filter
+# How many times does the covariance need to decrease until a seed is considered converged.
+# Increase to get more accurate points
+seed_convergence_sigma2_thresh: 200
+mappoint_convergence_sigma2_thresh: 500
+
+relocalization_max_trials: 5
+
+# IMU
+# Normally the prior should be 0 if not using IMU.
+use_imu: true
+poseoptim_prior_lambda: 0.0 # Gyroscope prior in pose optimization
+img_align_prior_lambda_rot: 1.0 # Gyroscope prior in sparse image alignment
+img_align_prior_lambda_trans: 0.0 # Constant velocity assumption prior in sparse image alignment
+
+# Dense input
+publish_every_nth_dense_input: 5
+
+# Visualization
+publish_marker_scale: 0.5
+publish_active_kfs: True
+
+# Stereo parameters, not used for mono.
+max_depth_inv: 0.05
+min_depth_inv: 1.0
+mean_depth_inv: 0.3
+
+##############################
+##### Backend parameters #####
+##############################
+use_ceres_backend: true
+ceres_verbose: false
+ceres_marginalize: true
+ceres_num_iterations: 3
+ceres_num_imu_frames: 3 
+ceres_max_iteration_time: 0.04 # soft limit, set to -1 to deactivate
+publish_marker_scale_backend: 0.5 # set to -1 to deactivate visualization of landmarks
+backend_only_use_corners: false
+backend_scale_stable_thresh: 0.02
+
+# For Loop Correction
+ransac3d_inlier_percent: 35
+
+# outlier rejection
+use_outlier_rejection: true
+outlier_rejection_px_threshold: 2.0
+
+# Zero Motion Detection
+backend_use_zero_motion_detection: true
+backend_zero_motion_check_n_frames: 5
+zero_motion_px_diff_threshold: 0.2 # decrease with lower resolution
+zero_motion_ratio_moving_pixels_threshold: 0.1 
+zero_motion_min_number_correspondences: 5
+zero_motion_max_features_to_check: 15
+zero_motion_sigma: 0.1
+
+# fixed_frame_rate: -1
+
+# Loop closing
+ceres_remove_marginalization_term_after_loop: true
+ceres_recalculate_imu_terms_after_loop: true
+
+##############################
+##### Loop Closing parameters #####
+##############################
+# Flag to enable/disable loop closing
+runlc: True
+# Name of the file which stores the BOW vocabulary #
+voc_name: voc_FR_7X3.yml.gz
+# Data Extraction Threshold #
+alpha: 0.8
+# Loop Closure Detection Threshold #
+beta: 0.8
+# Number of past frames to ignore when looking for loop closures #
+frames_to_ignore: 20
+# Approach to use for scale retrieval in monocular case #
+# 1. Common Landmarks Method #
+# 2. Mixed Keypoints Method #
+scale_retrieval_approach: -1
+# Bag of Words match threshold #
+bow_thresh: 0.65
+# Geometric Verification Threshold i.e Minimum Percentage of Inliers #
+#gv_thresh: 40.0
+gv_thresh: 40.0
+# Minimum 3d matches needed for good loop closing #
+min_num_3d: 10
+# Distance threshold when matching ORB features #
+orb_dist_thresh: 48
+# Minimum percentage of matches in geometric verification #
+match_thresh: 0.15
+# use opengv for ransac during geometric verification
+use_opengv: true
+# Enable this option to log images and inlier matches between loop closure frames */
+enable_image_logging: false
+# Path to the folder where images will be locked. Make sure folder is already created */
+image_log_base_path: /home/hw/ros_ws/svo_2_ws/trace_dir/loopclosure_log
+
+# fuck add by hw
+init_method: Homography
+set_initial_attitude_from_gravity: true
+init_min_tracked: 50
+init_min_inliers: 40
+init_min_features_factor: 5
+reproj_err_thresh: 3.0
+init_disparity_pivot_ratio: 0.5
+klt_max_level: 4
+klt_min_level: 0
+# loadReprojectorOptions
+reprojector_max_fixed_landmarks: 50
+reprojector_max_n_global_kfs: 20
+reprojector_use_kfs_from_global_map: 0
+reprojector_fixed_lm_grid_size: 50
+
+use_edgelets: 1
+use_threaded_depthfilter: 1
+max_seeds_ratio: 3
+trace_dir: /home/hw/ros_ws/svo_2_ws/trace_dir
+quality_max_drop_fts: 100
+structure_optimization_max_pts: 20
+kfselect_min_dist: 0.12
+kfselect_min_num_frames_between_kfs: 2
+kfselect_backend_max_time_sec: 3
+img_align_robustification: 0
+img_align_use_distortion_jacobian: 0
+trace_statistics: 1
+global_map_timeout_sec: 0
+
+# Depth Filter
+T_world_imuinit/tz: 0
+T_world_imuinit/ty: 0
+T_world_imuinit/tx: 0
+
+depth_filter_extra_map_points: 0
+
+publish_img_pyr_level: 0
+publish_every_nth_img: 1
+publish_image_caption_str: 0
+publish_world_in_cam_frame: 1
+publish_map_every_frame: 0
+publish_point_display_time: 0
+publish_seeds: 1
+publish_seeds_uncertainty: 0
+
+trace_pointcloud: 1
+
+imu_temporal_stationary_check: 0
+imu_temporal_window_length_sec: 0.5
+stationary_acc_sigma_thresh: 0
+stationary_gyr_sigma_thresh: 0
+
+ceres_num_threads: 2
+ceres_remove_fixation_min_num_fixed_points: 10
+ceres_max_fixed_landmarks: 50
+backend_min_num_obs: 2
+backend_min_parallax_deg: 2
+
+skip_optimization_when_tracking_bad: 0
+skip_optim_min_obs: 20
+backend_refine_extrinsics: 0
+backend_extrinsics_pos_sigma_meter: 0.05
+backend_extrinsics_rot_sigma_deg: 5
+
+ba_parallelized: 1
+global_map_type: BuiltInPoseGraph
+gv_3d_inlier_thresh: 0.4
+gv_2d_match_thresh: 0.1
+proximity_dist_ratio: 0.01
+proximity_offset: 0.1
+force_correction_dist_thresh_meter: 0.1
+
+ransac3d_min_pts: 8
+use_global_map: 0 # This is need to rebuild project
+
+remote_key_topic: svo/remote_key
\ No newline at end of file