Commit 72ee9f8d authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update launch: fix blob segmented image remapping

parent 23c5aafe
......@@ -12,10 +12,12 @@
</include>
<include file="$(find iri_color_calibration)/launch/node.launch">
<arg name="node_name" value="iri_color_calibration"/>
<arg name="node_name" value="color_calibration"/>
<arg name="camera_name" value="$(arg camera_name)"/>
<arg name="blobs_topic" value="blob_detector/blobs"/>
<arg name="set_filter_service" value="blob_detector/set_filter"/>
<arg name="blob_image_topic" value="/blob_detector/image_out/image_raw"/>
<arg name="blob_camera_info_topic" value="/blob_detector/image_out/camera_info"/>
</include>
</launch>
\ No newline at end of file
......@@ -2,22 +2,24 @@
<!-- -->
<launch>
<arg name="node_name" default="iri_color_calibration"/>
<arg name="node_name" default="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"/>
<arg name="blob_image_topic" default="/blob_detector/image_out/image_raw"/>
<arg name="blob_camera_info_topic" default="/blob_detector/image_out/camera_info"/>
<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="/$(arg camera_info_topic)"/>
<remap from="~/segmented_image/image_raw" to="/blob/image_out/image_raw"/>
<remap from="~/segmented_image/camera_info" to="/blob/image_out/camera_info"/>
<remap from="~/original_image/image_raw" to="$(arg image_topic)"/>
<remap from="~/original_image/camera_info" to="$(arg camera_info_topic)"/>
<remap from="~/segmented_image/image_raw" to="$(arg blob_image_topic)"/>
<remap from="~/segmented_image/camera_info" to="$(arg blob_camera_info_topic)"/>
<remap from="~/set_filter" to="$(arg set_filter_service)"/>
<remap from="~/blobs" to="$(arg blobs_topic)"/>
</node>
......
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