From 69e162cc289480f8303651fb288060bcab92848a Mon Sep 17 00:00:00 2001 From: Fernando Herrero Cotarelo <fherrero@iri.upc.edu> Date: Wed, 30 Apr 2014 10:34:48 +0000 Subject: [PATCH] iri_image_local_binarization: - launch_test includes launch_nodes - launch_nodes runs local_th and ar_pose --- launch/tibi_dabo_local_bin_nodes.launch | 37 +++++++++++ launch/tibi_dabo_local_bin_test.launch | 82 ++++++++++++++++--------- 2 files changed, 91 insertions(+), 28 deletions(-) create mode 100644 launch/tibi_dabo_local_bin_nodes.launch diff --git a/launch/tibi_dabo_local_bin_nodes.launch b/launch/tibi_dabo_local_bin_nodes.launch new file mode 100644 index 0000000..56c772e --- /dev/null +++ b/launch/tibi_dabo_local_bin_nodes.launch @@ -0,0 +1,37 @@ +<!-- --> + +<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> diff --git a/launch/tibi_dabo_local_bin_test.launch b/launch/tibi_dabo_local_bin_test.launch index 56c772e..007c85b 100644 --- a/launch/tibi_dabo_local_bin_test.launch +++ b/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> -- GitLab