Add bag.launch

launch/bag.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <param name="use_sim_time" value="true"/>
+  
+  <node pkg="rviz" name="rviz" type="rviz" args="-d $(find iri_visual_gps)/rviz/visual_gps.rviz"/>
+  
+  <include file="$(find iri_blob_detector)/launch/node.launch">
+    <arg name="node_name"   value="blob_detector_red"/>
+    <arg name="param_file"  value="red_lab.yaml"/>
+    <arg name="param_path"  value="$(find iri_blob_detector)/config"/>
+    <arg name="camera_name" value="usb_cam"/>
+    <arg name="blobs_topic" value="blob_detector_red/blobs"/>
+  </include>
+  
+  <include file="$(find iri_blob_detector)/launch/node.launch">
+    <arg name="node_name"   value="blob_detector_green"/>
+    <arg name="param_file"  value="green_lab.yaml"/>
+    <arg name="param_path"  value="$(find iri_blob_detector)/config"/>
+    <arg name="camera_name" value="usb_cam"/>
+    <arg name="blobs_topic" value="blob_detector_green/blobs"/>
+  </include>
+  
+  <include file="$(find iri_blob_detector)/launch/node.launch">
+    <arg name="node_name"   value="blob_detector_blue"/>
+    <arg name="param_file"  value="blue_lab.yaml"/>
+    <arg name="param_path"  value="$(find iri_blob_detector)/config"/>
+    <arg name="camera_name" value="usb_cam"/>
+    <arg name="blobs_topic" value="blob_detector_blue/blobs"/>
+  </include>
+  
+  <include file="$(find iri_blob_detector)/launch/node.launch">
+    <arg name="node_name"   value="blob_detector_yellow"/>
+    <arg name="param_file"  value="yellow_lab.yaml"/>
+    <arg name="param_path"  value="$(find iri_blob_detector)/config"/>
+    <arg name="camera_name" value="usb_cam"/>
+    <arg name="blobs_topic" value="blob_detector_yellow/blobs"/>
+  </include>
+  
+  <include file="$(find iri_undistort_pixels)/launch/node.launch">
+    <arg name="node_name"       value="undistort_blob_red"/>
+    <arg name="topic_blobs_in"  value="blob_detector_red/blobs"/>
+    <arg name="topic_blobs_out" value="blob_detector_red/blobs_undist"/>
+  </include>
+  
+  <include file="$(find iri_undistort_pixels)/launch/node.launch">
+    <arg name="node_name"       value="undistort_blob_green"/>
+    <arg name="topic_blobs_in"  value="blob_detector_green/blobs"/>
+    <arg name="topic_blobs_out" value="blob_detector_green/blobs_undist"/>
+  </include>
+  
+  <include file="$(find iri_undistort_pixels)/launch/node.launch">
+    <arg name="node_name"       value="undistort_blob_blue"/>
+    <arg name="topic_blobs_in"  value="blob_detector_blue/blobs"/>
+    <arg name="topic_blobs_out" value="blob_detector_blue/blobs_undist"/>
+  </include>
+  
+  <include file="$(find iri_undistort_pixels)/launch/node.launch">
+    <arg name="node_name"       value="undistort_blob_yellow"/>
+    <arg name="topic_blobs_in"  value="blob_detector_yellow/blobs"/>
+    <arg name="topic_blobs_out" value="blob_detector_yellow/blobs_undist"/>
+    <arg name="config_file" value="params_image.yaml"/>
+  </include>
+  
+  <include file="$(find iri_visual_gps)/launch/node.launch">
+    <arg name="node_name"       value="visual_gps"/>
+    <arg name="positions_file"  value="position_lab.yaml"/>
+    <arg name="param_file"      value="params_lab.yaml"/>
+    <arg name="param_path"      value="$(find iri_visual_gps)/config"/>
+    <arg name="camera_name"     value="usb_cam"/>
+    <arg name="camera_info_topic"     value="/undistort_blob_blue/camera_info"/>
+    <arg name="blobs1_topic"    value="blob_detector_red/blobs_undist"/>
+    <arg name="blobs2_topic"    value="blob_detector_green/blobs_undist"/>
+    <arg name="blobs3_topic"    value="blob_detector_blue/blobs_undist"/>
+    <arg name="blobs4_topic"    value="blob_detector_yellow/blobs_undist"/>
+  </include>
+
+</launch>
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