Renamed files and launchs

config/blue_lab.yaml

+color_id: blue
+H_center: 233
+H_window: 3
+S_center: 215
+S_window: 10
+V_center: 131
+V_window: 33
+max_area: 100000
+min_area: 10

config/blue.yaml → config/blue_sim.yaml

@@ -6,4 +6,4 @@ S_window: 10
 V_center: 102
 V_window: 10
 max_area: 100000
-min_area: 10
+min_area: 10
\ No newline at end of file

config/green_lab.yaml

+color_id: green
+H_center: 134
+H_window: 14
+S_center: 122
+S_window: 35
+V_center: 44
+V_window: 9
+max_area: 100000
+min_area: 10

config/green.yaml → config/green_sim.yaml

 color_id: green
 H_center: 120
 H_window: 10
-S_center: 255
+S_center: 250
 S_window: 10
-V_center: 102
-V_window: 10
+V_center: 108
+V_window: 23
 max_area: 100000
 min_area: 10

config/red_lab.yaml

+color_id: red
+H_center: 348
+H_window: 6
+S_center: 185
+S_window: 21
+V_center: 90
+V_window: 27
+max_area: 100000
+min_area: 10

config/red.yaml → config/red_sim.yaml

 color_id: red
 H_center: 0
 H_window: 10
-S_center: 255
+S_center: 250
 S_window: 10
 V_center: 102
-V_window: 10
+V_window: 7
 max_area: 100000
 min_area: 10

config/default_params.yaml → config/sample.yaml

-color_id: none
+color_id: color
 H_center: 180
 H_window: 360
 S_center: 128

config/yellow_lab.yaml

+color_id: yellow
+H_center: 48
+H_window: 6
+S_center: 228
+S_window: 20
+V_center: 132
+V_window: 21
+max_area: 100000
+min_area: 10

config/yellow.yaml → config/yellow_sim.yaml

 color_id: yellow
 H_center: 60
 H_window: 10
-S_center: 255
-S_window: 10
-V_center: 102
-V_window: 10
+S_center: 251
+S_window: 8
+V_center: 101
+V_window: 7
 max_area: 100000
 min_area: 10

launch/blob_detector.launch

-<!-- -->
-<launch>
-
-  <arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
-
-  <group ns="usb_cam">
-    <node pkg="libuvc_camera" type="camera_node" name="mycam">
-      <!-- Parameters used to find the camera -->
-<!--      <param name="vendor" value="0x046d"/>
-      <param name="product" value="0x0802"/>
-      <param name="serial" value="BEE76360"/>-->
-      <!-- If the above parameters aren't unique, choose the first match: -->
-      <param name="index" value="0"/>
-
-      <!-- Image size and type -->
-      <param name="width" value="640"/>
-      <param name="height" value="480"/>
-      <!-- choose whichever uncompressed format the camera supports: -->
-      <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg -->
-      <param name="frame_rate" value="15"/>
-
-      <param name="timestamp_method" value="start"/> <!-- start of frame -->
-      <param name="camera_info_url" value="file:///tmp/cam.yaml"/>
-      <param name="auto_exposure" value="0"/> <!-- use aperture_priority auto exposure -->
-      <param name="auto_exposure_priority" value="0"/>
-      <param name="exposure_absolute" value="0.90"/> <!-- use aperture_priority auto exposure -->
-    </node>
-  </group>
-
-  <node name="blob"
-        pkg="iri_blob_detector"
-        type="iri_blob_detector"
-        output="screen">
-    <remap from="/blob/image_in/camera_info"
-             to="/usb_cam/camera_info"/>
-    <remap from="/blob/image_in/image_raw"
-             to="/usb_cam/image_raw"/>
-    <rosparam file="$(arg config_yaml_file)" command="load" />
-  </node>
-
-</launch>

launch/blob_detector_sim.launch

-<!-- -->
-<launch>
-
-  <arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
-
-  <node name="blob"
-        pkg="iri_blob_detector"
-        type="iri_blob_detector"
-        output="screen">
-    <remap from="/blob/image_in/camera_info"
-             to="/usb_cam/camera_info"/>
-    <remap from="/blob/image_in/image_raw"
-             to="/usb_cam/image_raw"/>
-    <rosparam file="$(arg config_yaml_file)" command="load" />
-  </node>
-
-</launch>

launch/node.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="node_name"  default="blob_detector"/>
+  <arg name="param_file" default="sample.yaml"/>
+  <arg name="param_path" default="$(find iri_blob_detector)/config"/>
+  <arg name="camera_name" default="usb_cam"/>
+  <arg name="blobs_topic" default="blobs"/>
+  
+  <arg name="camera_info_topic" default="/$(arg camera_name)/camera_info"/>
+  <arg name="image_topic"       default="/$(arg camera_name)/image_raw"/>
+
+  <node name="$(arg node_name)"
+        pkg ="iri_blob_detector"
+        type="iri_blob_detector"
+        output="screen">
+    <remap from="~image_in/camera_info" to="/$(arg camera_info_topic)"/>
+    <remap from="~image_in/image_raw"   to="/$(arg image_topic)"/>
+    <remap from="~blobs"                to="/$(arg blobs_topic)"/>
+    <rosparam file="$(arg param_path)/$(arg param_file)" command="load" />
+  </node>
+
+</launch>
\ No newline at end of file