Update launchs

launch/color_calibration.launch

 <!-- -->
 <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>
\ No newline at end of file

launch/color_calibration_sim.launch

-<!-- -->
-<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>

launch/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