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> -- GitLab