Changed the node to publish raw images.

Added a launch file to launch all the necessary nodes for the ar_pose detection.

launch/camera_flea.launch

@@ -4,12 +4,12 @@
         name="iri_firewire_camera"
         type="iri_firewire_camera"
         output="screen">
-    <param name="Camera_node"  value="0" />
+    <param name="Camera_node"  value="2" />
     <param name="Color_coding" value="0" />
     <param name="ISO_speed"    value="400" />
     <param name="Framerate"    value="30" />
-    <param name="Image_width"  value="640" />
-    <param name="Image_height" value="480" />
+    <param name="Image_width"  value="1024" />
+    <param name="Image_height" value="768" />
   </node>
 
 <!--  <node pkg="image_view"

launch/firewire_arpose_nodelet.launch

+<launch>
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen">
+    <param name="Camera_node"  value="2" />
+    <param name="frame_id"     value="bumblebee_frame" type="string" />
+    <param name="cal_file"     value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
+    <param name="ISO_speed"    value="400" />
+    <param name="Framerate"    value="7.5" />
+    <param name="Color_coding" value="6" />
+    <param name="Image_width"  value="1024" />
+    <param name="Image_height" value="768" />
+    <param name="autosize"     value="true"/>
+    <remap from="/standalone_nodelet/camera_image"
+             to="/camera/image_raw" />
+    <remap from="/standalone_nodelet/camera_info"
+             to="/camera/camera_info" />
+  </node>
+
+  <!-- firewire camera driver -->
+  <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
+  </node>
+
+  <node pkg ="nodelet" type="nodelet" name="image_proc_debayer" args="load image_proc/debayer standalone_nodelet" output="screen">
+    <remap from="/image_raw"
+             to="/camera/image_raw"/>
+    <remap from="/camera_info"
+             to="/camera/camera_info"/>
+    <remap from="/image_mono"
+             to="/camera/image_mono"/>
+  </node>
+  <!-- image rectification -->
+  <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen">
+    <remap from="/image_mono"
+             to="/camera/image_mono"/>
+    <remap from="/camera_info"
+             to="/camera/camera_info"/>
+    <remap from="/image_rect"
+             to="/camera/image_rect"/>
+  </node>
+
+  <node pkg ="nodelet" type="nodelet" name="local_th" args="load iri_image_local_binarization/ImageLocalBinNodelet standalone_nodelet" output="screen">
+    <remap from="local_th/image_in/image_raw"
+             to="/camera/image_rect"/>
+    <remap from="local_th/image_in/camera_info"
+             to="/camera/camera_info"/>
+    <remap from="local_th/image_out/image_raw"
+             to="/ar_pose/image_raw"/>
+    <remap from="local_th/image_out/camera_info"
+             to="/ar_pose/camera_info"/>
+  </node>
+
+  <node name="ar_pose"
+        pkg ="ar_pose"
+        type="ar_multi"
+        respawn="false"
+        output="screen">
+    <param name="marker_pattern_list" type="string" value="$(find iri_ladybug2)/data/object_4x4_front"/>
+    <param name="threshold"       type="int"    value="100"/>
+    <param name="use_history"     type="bool"   value="true"/>
+    <remap from="/camera/image_raw"
+             to="/ar_pose/image_raw"/>
+    <remap from="/camera/camera_info"
+             to="/ar_pose/camera_info"/>
+  </node>
+
+</launch>

launch/firewire_nodelet.launch

 <launch>
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen">
-    <param name="Camera_node"  value="0" />
+    <param name="Camera_node"  value="1" />
     <param name="frame_id"     value="bumblebee_frame" type="string" />
     <param name="cal_file"     value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
     <param name="ISO_speed"    value="400" />

src/firewire_camera_driver_nodelet.cpp

@@ -72,7 +72,7 @@ void FirewireCameraDriverNode::mainNodeThread(void)
           this->Image_msg_->height=config.height;
           this->Image_msg_->step=config.width*config.depth/8;
           this->Image_msg_->data=std::vector<unsigned char>(image_data,image_data+config.width*config.height*config.depth/8);
-          if(config.coding==MONO || config.coding==RAW)
+          if(config.coding==MONO)
           {
             if(config.depth==DEPTH8)
               this->Image_msg_->encoding="8UC1";
@@ -81,6 +81,10 @@ void FirewireCameraDriverNode::mainNodeThread(void)
             else
               this->Image_msg_->encoding="16UC1";
           }
+          else if(config.coding==RAW)
+          {
+            this->Image_msg_->encoding="bayer_rggb8";
+          }
           else if(config.coding==YUV)
           {
             this->Image_msg_->encoding="yuv422";