iri_image_local_binarization:

  - launch_test includes launch_nodes
  - launch_nodes runs local_th and ar_pose

launch/tibi_dabo_local_bin_nodes.launch

+<!-- -->
+
+<launch>
+
+  <!-- load robot defined machines -->
+  <include file="$(find tibi_dabo_base)/machines/$(env ROBOT).machines" />
+
+  <group ns="$(env ROBOT)">
+    <node name="local_th"
+          pkg="iri_image_local_binarization"
+          type="iri_image_local_binarization"
+          output="screen"
+          machine="visio">
+      <param name="window_size" value="15"/>
+      <param name="k" value="0.25"/>
+      <remap from="/$(env ROBOT)/local_th/image_in/camera_info"
+               to="/$(env ROBOT)/sensors/head_right/camera_info"/>
+      <remap from="/$(env ROBOT)/local_th/image_in/image_raw"
+               to="/$(env ROBOT)/sensors/head_right/image_raw"/>
+    </node>
+
+    <node name="ar_pose"
+          pkg ="ar_pose"
+          type="ar_multi"
+          respawn="false"
+          output="screen"
+          machine="visio">
+      <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
+      <param name="threshold"       type="int"    value="100"/>
+      <param name="use_history"     type="bool"   value="true"/>
+      <remap from="/camera/image_raw"
+               to="/$(env ROBOT)/local_th/image_out/image_raw"/>
+      <remap from="/camera/camera_info"
+               to="/$(env ROBOT)/local_th/image_out/camera_info"/>
+    </node>
+  </group>
+</launch>

launch/tibi_dabo_local_bin_test.launch

@@ -5,33 +5,59 @@
   <!-- load robot defined machines -->
   <include file="$(find tibi_dabo_base)/machines/$(env ROBOT).machines" />
 
-  <group ns="$(env ROBOT)">
-    <node name="local_th"
-          pkg="iri_image_local_binarization"
-          type="iri_image_local_binarization"
-          output="screen"
-          machine="visio">
-      <param name="window_size" value="15"/>
-      <param name="k" value="0.25"/>
-      <remap from="/$(env ROBOT)/local_th/image_in/camera_info"
-               to="/$(env ROBOT)/sensors/head_right/camera_info"/>
-      <remap from="/$(env ROBOT)/local_th/image_in/image_raw"
-               to="/$(env ROBOT)/sensors/head_right/image_raw"/>
-    </node>
+  <!-- tibi/dabo sensors -->
+  <!-- published topics: /$(env ROBOT)/sensors/front_laser_scan -->
+  <!--                   /$(env ROBOT)/sensors/rear_laser_scan -->
+  <!--                   /$(env ROBOT)/sensors/vertical_laser_scan -->
+  <!--                   /$(env ROBOT)/sensors/head_right_image -->
+  <!--                   /$(env ROBOT)/sensors/payload_battery_status -->
+  <!--                   /$(env ROBOT)/sensors/joy -->
+  <!-- subscribed topics: -->
+  <!-- service clients: -->
+  <!-- service servers: -->
+  <!-- action clients: -->
+  <!-- action servers: -->
+  <include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_sensors.launch">
+    <arg name="front_laser"     value="False" />
+    <arg name="rear_laser"      value="False" />
+    <arg name="vertical_laser"  value="False" />
+    <arg name="wiimote"         value="False" />
+    <arg name="bumblebee_right" value="True" />
+    <arg name="battery"         value="False" />
+  </include>
+
+  <!-- tibi/dabo devices -->
+  <!-- published topics: $(env ROBOT)/joint_states -->
+  <!--                   $(env ROBOT)/segway/status-->
+  <!-- subscribed topics: $(env ROBOT)/head/joint_position -->
+  <!--                    $(env ROBOT)/head/joint_effort -->
+  <!--                    $(env ROBOT)/head/facial_expression -->
+  <!--                    $(env ROBOT)/segway/cmd_vel -->
+  <!--                    $(env ROBOT)/joint_states -->
+  <!-- service clients: -->
+  <!-- service servers: -->
+  <!-- action clients: -->
+  <!-- action servers: $(env ROBOT)/left_arm/motion_sequence -->
+  <!--                  $(env ROBOT)/left_arm/joint_motion -->
+  <!--                  $(env ROBOT)/right_arm/motion_sequence -->
+  <!--                  $(env ROBOT)/right_arm/joint_motion -->
+  <!--                  $(env ROBOT)/head/motion_sequence -->
+  <!--                  $(env ROBOT)/head/lights_sequence -->
+  <!--                  $(env ROBOT)/head/joint_motion -->
+  <include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_devices.launch">
+    <arg name="head"            value="False" />
+    <arg name="left_arm"        value="False" />
+    <arg name="right_arm"       value="False" />
+    <arg name="platform"        value="False" />
+  </include>
+
+  <include file="$(find iri_image_local_binarization)/launch/tibi_dabo_local_bin_nodes.launch"/>
+
+  <!-- optionally include the rviz node --> 
+  <node name="rviz" 
+        pkg="rviz" 
+        type="rviz"
+        machine="monitor" 
+        args="-d $(find tibi_dabo_tag_head_tracking)/config/$(env ROBOT)_head_tracking.vcg" />
 
-    <node name="ar_pose"
-          pkg ="ar_pose"
-          type="ar_multi"
-          respawn="false"
-          output="screen"
-          machine="visio">
-      <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
-      <param name="threshold"       type="int"    value="100"/>
-      <param name="use_history"     type="bool"   value="true"/>
-      <remap from="/camera/image_raw"
-               to="/$(env ROBOT)/local_th/image_out/image_raw"/>
-      <remap from="/camera/camera_info"
-               to="/$(env ROBOT)/local_th/image_out/camera_info"/>
-    </node>
-  </group>
 </launch>