diff --git a/config/blue_lab.yaml b/config/blue_lab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5f517d1e2699569b59287704140b577705612d6 --- /dev/null +++ b/config/blue_lab.yaml @@ -0,0 +1,9 @@ +color_id: blue +H_center: 233 +H_window: 3 +S_center: 215 +S_window: 10 +V_center: 131 +V_window: 33 +max_area: 100000 +min_area: 10 diff --git a/config/green_lab.yaml b/config/green_lab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..00d14fb0fc9e4290abf714f586ddc7747cbd3dc1 --- /dev/null +++ b/config/green_lab.yaml @@ -0,0 +1,9 @@ +color_id: green +H_center: 134 +H_window: 14 +S_center: 122 +S_window: 35 +V_center: 44 +V_window: 9 +max_area: 100000 +min_area: 10 diff --git a/config/red_lab.yaml b/config/red_lab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85f4dc94764ae2126199f996e13c2749dca08fc6 --- /dev/null +++ b/config/red_lab.yaml @@ -0,0 +1,9 @@ +color_id: red +H_center: 348 +H_window: 6 +S_center: 185 +S_window: 21 +V_center: 90 +V_window: 27 +max_area: 100000 +min_area: 10 diff --git a/config/yellow_lab.yaml b/config/yellow_lab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3928b143072c9211bbe60758e495d1df2cdc54de --- /dev/null +++ b/config/yellow_lab.yaml @@ -0,0 +1,9 @@ +color_id: yellow +H_center: 48 +H_window: 6 +S_center: 228 +S_window: 20 +V_center: 132 +V_window: 21 +max_area: 100000 +min_area: 10 diff --git a/launch/visual_gps.launch b/launch/visual_gps.launch index 22bcbb4782ad668d994340a71a87957ab4675c65..72fc9973f724e825fab1251140fa87359e555f21 100644 --- a/launch/visual_gps.launch +++ b/launch/visual_gps.launch @@ -1,52 +1,50 @@ +<?xml version="1.0"?> <!-- --> <launch> - <node pkg="nodelet" type="nodelet" name="visual_gps_nodelet" args="manager" output="screen"> - - </node> - <node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + <arg name="positions_file" default="lab_position.yaml"/> + <arg name="positions_path" default="$(find iri_visual_gps)/config"/> + + <arg name="config_yaml_file_location" default="$(find iri_visual_gps)/config"/> + + <node name="blob1" + pkg="iri_blob_detector" + type="iri_blob_detector" + output="screen"> <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/blobs" to="/visual_gps/color1_blobs"/> - <rosparam file="$(find iri_blob_detector)/config/red_conf.yaml" command="load" /> + <rosparam file="$(arg config_yaml_file_location)/green_lab.yaml" command="load" /> </node> - <node pkg="nodelet" type="nodelet" name="blob_detector_color2" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + + <node name="blob2" + pkg="iri_blob_detector" + type="iri_blob_detector" + output="screen"> <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/blobs" to="/visual_gps/color2_blobs"/> - <rosparam file="$(find iri_blob_detector)/config/blue_conf.yaml" command="load" /> + <rosparam file="$(arg config_yaml_file_location)/red_lab.yaml" command="load" /> </node> - <node pkg="nodelet" type="nodelet" name="blob_detector_color3" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + + <node name="blob3" + pkg="iri_blob_detector" + type="iri_blob_detector" + output="screen"> <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/blobs" to="/visual_gps/color3_blobs"/> - <rosparam file="$(find iri_blob_detector)/config/green_conf.yaml" command="load" /> + <rosparam file="$(arg config_yaml_file_location)/yellow_lab.yaml" command="load" /> </node> - <node pkg="nodelet" type="nodelet" name="blob_detector_color4" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + + <node name="blob4" + pkg="iri_blob_detector" + type="iri_blob_detector" + output="screen"> <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/blobs" to="/visual_gps/color4_blobs"/> - <rosparam file="$(find iri_blob_detector)/config/yellow_conf.yaml" command="load" /> - </node> - <node pkg="nodelet" type="nodelet" name="camera" args="load libuvc_camera/driver visual_gps_nodelet" output="screen"> -<!-- <param name="vendor" value="0x046d"/> - <param name="product" value="0x0805"/> - <param name="serial" value="AB659260"/>--> - <!-- If the above parameters aren't unique, choose the first match: --> - <param name="index" value="0"/> - <!-- Image size and type --> - <param name="width" value="640"/> - <param name="height" value="480"/> - <!-- choose whichever uncompressed format the camera supports: --> - <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg --> - <param name="frame_rate" value="15"/> - <param name="timestamp_method" value="start"/> <!-- start of frame --> - <param name="camera_info_url" value="file:///tmp/cam.yaml"/> - <param name="auto_exposure" value="0"/> <!-- use aperture_priority auto exposure --> - <param name="auto_exposure_priority" value="0"/> - <param name="exposure_absolute" value="0.90"/> <!-- use aperture_priority auto exposure --> - <remap from="/image_raw" to="/usb_cam/image_raw"/> - <remap from="/camera_info" to="/usb_cam/camera_info"/> + <rosparam file="$(arg config_yaml_file_location)/blue_lab.yaml" command="load" /> </node> <node pkg="iri_visual_gps" @@ -55,6 +53,6 @@ output="screen"> <remap from="~/camera/camera_info" to="/usb_cam/camera_info"/> <remap from="~/set_camera_params" to="/usb_cam/set_parameters"/> - <rosparam file="$(find iri_visual_gps)/config/default_params.yaml" command="load" /> + <rosparam file="$(arg positions_path)/$(arg positions_file)" command="load" /> </node> </launch> diff --git a/launch/visual_gps_nodelets.launch b/launch/visual_gps_nodelets.launch new file mode 100644 index 0000000000000000000000000000000000000000..c5312ea486fb1874523c7759b41c5cafc2f81fbd --- /dev/null +++ b/launch/visual_gps_nodelets.launch @@ -0,0 +1,61 @@ +<?xml version="1.0"?> +<!-- --> +<launch> + <node pkg="nodelet" type="nodelet" name="visual_gps_nodelet" args="manager" output="screen"> + + </node> + + <node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> + <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> + <remap from="~/blobs" to="/visual_gps/color1_blobs"/> + <rosparam file="$(find iri_blob_detector)/config/red.yaml" command="load" /> + </node> + <node pkg="nodelet" type="nodelet" name="blob_detector_color2" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> + <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> + <remap from="~/blobs" to="/visual_gps/color2_blobs"/> + <rosparam file="$(find iri_blob_detector)/config/blue.yaml" command="load" /> + </node> + <node pkg="nodelet" type="nodelet" name="blob_detector_color3" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> + <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> + <remap from="~/blobs" to="/visual_gps/color3_blobs"/> + <rosparam file="$(find iri_blob_detector)/config/green.yaml" command="load" /> + </node> + <node pkg="nodelet" type="nodelet" name="blob_detector_color4" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> + <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> + <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> + <remap from="~/blobs" to="/visual_gps/color4_blobs"/> + <rosparam file="$(find iri_blob_detector)/config/yellow.yaml" command="load" /> + </node> + <node pkg="nodelet" type="nodelet" name="camera" args="load libuvc_camera/driver visual_gps_nodelet" output="screen"> +<!-- <param name="vendor" value="0x046d"/> + <param name="product" value="0x0805"/> + <param name="serial" value="AB659260"/>--> + <!-- If the above parameters aren't unique, choose the first match: --> + <param name="index" value="0"/> + <!-- Image size and type --> + <param name="width" value="640"/> + <param name="height" value="480"/> + <!-- choose whichever uncompressed format the camera supports: --> + <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg --> + <param name="frame_rate" value="15"/> + <param name="timestamp_method" value="start"/> <!-- start of frame --> + <param name="camera_info_url" value="file:///tmp/cam.yaml"/> + <param name="auto_exposure" value="0"/> <!-- use aperture_priority auto exposure --> + <param name="auto_exposure_priority" value="0"/> + <param name="exposure_absolute" value="0.90"/> <!-- use aperture_priority auto exposure --> + <remap from="/image_raw" to="/usb_cam/image_raw"/> + <remap from="/camera_info" to="/usb_cam/camera_info"/> + </node> + + <node pkg="iri_visual_gps" + type="iri_visual_gps" + name="visual_gps" + output="screen"> + <remap from="~/camera/camera_info" to="/usb_cam/camera_info"/> + <remap from="~/set_camera_params" to="/usb_cam/set_parameters"/> + <rosparam file="$(find iri_visual_gps)/config/lab_position.yaml" command="load" /> + </node> +</launch> diff --git a/launch/visual_gps_sim.launch b/launch/visual_gps_sim.launch index b57a28ef84cb43575b3b73ae59d7c61c16aaad27..dca24e9680685d9146a2280606bc6c882b48ac4b 100644 --- a/launch/visual_gps_sim.launch +++ b/launch/visual_gps_sim.launch @@ -1,3 +1,4 @@ +<?xml version="1.0"?> <!-- --> <launch>