From 2b76afc487d3db9807fa67bcfca2f8f2ef5829be Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Thu, 8 Nov 2018 16:54:20 +0100 Subject: [PATCH] Add bag.launch --- launch/bag.launch | 79 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 79 insertions(+) create mode 100644 launch/bag.launch diff --git a/launch/bag.launch b/launch/bag.launch new file mode 100644 index 0000000..fda847f --- /dev/null +++ b/launch/bag.launch @@ -0,0 +1,79 @@ +<?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> \ No newline at end of file -- GitLab