Commit f863c3ac authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update launch

parent 419a621d
......@@ -2,30 +2,31 @@
<launch>
<arg name="ns" default="ana"/>
<arg name="ns2" default="nav3d/camera"/>
<arg name="ns" default="ana"/>
<arg name="ns2" default="nav3d/camera"/>
<arg name="ns_nav3d" default="$(arg ns)/$(arg ns2)"/>
<arg name="obstacle_nodelet_manager" default="obstacle_nodelet_manager" />
<arg name="hole_nodelet_manager" default="hole_nodelet_manager" />
<arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
<arg name="hole_nodelet_manager" default="hole_nodelet_manager" />
<arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="average_node_name" default="average_point_cloud"/>
<arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
<arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_node_name" default="obstacle_detection_normals"/>
<arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_node_name" default="near_hole_detection"/>
<arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_node_name" default="far_hole_detection"/>
<arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="output" default="screen"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- ******************* OBSTACLE DETECTION ********************************** -->
......@@ -48,13 +49,13 @@
</group>
<include file="$(find iri_average_point_cloud)/launch/nodelet.launch">
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="ns" value="$(arg ns_nav3d)"/>
<arg name="node_name" value="$(arg average_node_name)"/>
<arg name="camera_nodelet_manager" value="$(arg obstacle_nodelet_manager)"/>
<arg name="config_file" value="$(arg average_config_file)"/>
<arg name="output" value="$(arg output)"/>
<arg name="config_file" value="$(arg average_config_file)"/>
<arg name="cloud_in" value="$(arg average_cloud_in)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="cloud_in" value="$(arg camera_cloud_in)_throttle"/>
</include>
<group ns="$(arg ns_nav3d)">
......
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