From 7d478b0ba12c8eba0e379e43d8ca37896b000640 Mon Sep 17 00:00:00 2001
From: Fernando Herrero Cotarelo <fherrero@iri.upc.edu>
Date: Wed, 30 Apr 2014 08:35:42 +0000
Subject: [PATCH] local_bin: added test launch

---
 launch/tibi_dabo_local_bin_test.launch | 37 ++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 launch/tibi_dabo_local_bin_test.launch

diff --git a/launch/tibi_dabo_local_bin_test.launch b/launch/tibi_dabo_local_bin_test.launch
new file mode 100644
index 0000000..56c772e
--- /dev/null
+++ b/launch/tibi_dabo_local_bin_test.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>
-- 
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