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Commit 7d478b0b authored by Fernando Herrero's avatar Fernando Herrero
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local_bin: added test launch

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<!-- -->
<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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