Commit 23c5aafe authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update launchs

parent 9df294a0
<!-- -->
<launch>
<arg name="camera_name" value="usb_cam"/> <!-- usb_cam, camera/rgb -->
<include file="$(find iri_blob_detector)/launch/blob_detector.launch" />
<arg name="camera" default="usb_cam"/> <!-- camera/rgb, usb_cam -->
<node pkg ="iri_color_calibration"
type="iri_color_calibration"
name="color_calibration"
output="screen">
<remap from="~/original_image/image_raw" to="/$(arg camera)/image_raw"/>
<remap from="~/original_image/camera_info" to="/$(arg camera)/camera_info"/>
<remap from="~/segmented_image/image_raw" to="/blob/image_out/image_raw"/>
<remap from="~/segmented_image/camera_info" to="/blob/image_out/camera_info"/>
<remap from="~/set_filter" to="/blob/set_filter"/>
<remap from="~/blobs" to="/blob/blobs"/>
</node>
<include file="$(find iri_blob_detector)/launch/node.launch">
<arg name="node_name" value="blob_detector"/>
<arg name="param_file" value="sample.yaml"/>
<arg name="param_path" value="$(find iri_blob_detector)/config"/>
<arg name="camera_name" value="$(arg camera_name)"/>
<arg name="blobs_topic" value="blob_detector/blobs"/>
</include>
<include file="$(find iri_color_calibration)/launch/node.launch">
<arg name="node_name" value="iri_color_calibration"/>
<arg name="camera_name" value="$(arg camera_name)"/>
<arg name="blobs_topic" value="blob_detector/blobs"/>
<arg name="set_filter_service" value="blob_detector/set_filter"/>
</include>
</launch>
</launch>
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<!-- -->
<launch>
<include file="$(find iri_blob_detector)/launch/blob_detector_sim.launch" />
<arg name="camera" default="usb_cam"/> <!-- camera/rgb, usb_cam -->
<node pkg ="iri_color_calibration"
type="iri_color_calibration"
name="color_calibration"
output="screen">
<remap from="~/original_image/image_raw" to="/$(arg camera)/image_raw"/>
<remap from="~/original_image/camera_info" to="/$(arg camera)/camera_info"/>
<remap from="~/segmented_image/image_raw" to="/blob/image_out/image_raw"/>
<remap from="~/segmented_image/camera_info" to="/blob/image_out/camera_info"/>
<remap from="~/set_filter" to="/blob/set_filter"/>
<remap from="~/blobs" to="/blob/blobs"/>
</node>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="node_name" default="iri_color_calibration"/>
<arg name="camera_name" default="usb_cam"/>
<arg name="blobs_topic" default="blobs"/>
<arg name="set_filter_service" default="set_filter"/>
<arg name="camera_info_topic" default="/$(arg camera_name)/camera_info"/>
<arg name="image_topic" default="/$(arg camera_name)/image_raw"/>
<node pkg ="iri_color_calibration"
type="iri_color_calibration"
name="$(arg node_name)"
output="screen">
<remap from="~/original_image/image_raw" to="/$(arg image_topic)"/>
<remap from="~/original_image/camera_info" to="/$(arg camera_info_topic)"/>
<remap from="~/segmented_image/image_raw" to="/blob/image_out/image_raw"/>
<remap from="~/segmented_image/camera_info" to="/blob/image_out/camera_info"/>
<remap from="~/set_filter" to="$(arg set_filter_service)"/>
<remap from="~/blobs" to="$(arg blobs_topic)"/>
</node>
</launch>
\ No newline at end of file
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