From d6a1f4391b8554af35177d2ec3ba576d852ebaee Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 4 May 2018 17:31:26 +0200
Subject: [PATCH] Added the launch for the simulation.

---
 launch/blob_detector_sim.launch | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 launch/blob_detector_sim.launch

diff --git a/launch/blob_detector_sim.launch b/launch/blob_detector_sim.launch
new file mode 100644
index 0000000..bbca3e3
--- /dev/null
+++ b/launch/blob_detector_sim.launch
@@ -0,0 +1,18 @@
+<!-- -->
+<launch>
+
+  <arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
+
+  <node name="blob"
+        pkg="iri_blob_detector"
+        type="iri_blob_detector"
+        output="screen">
+    <param name="window_size" value="15"/>
+    <remap from="/blob/image_in/camera_info"
+             to="/usb_cam/camera_info"/>
+    <remap from="/blob/image_in/image_raw"
+             to="/usb_cam/image_raw"/>
+    <rosparam file="$(arg config_yaml_file)" command="load" />
+  </node>
+
+</launch>
-- 
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