From a307d1a5e5f68f63ca41f6a5b1088ddebe8691fd Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 18 Oct 2018 12:52:37 +0200
Subject: [PATCH] Updated launchs. Added lab color yamls

---
 config/blue_lab.yaml              |  9 +++++
 config/green_lab.yaml             |  9 +++++
 config/red_lab.yaml               |  9 +++++
 config/yellow_lab.yaml            |  9 +++++
 launch/visual_gps.launch          | 62 +++++++++++++++----------------
 launch/visual_gps_nodelets.launch | 61 ++++++++++++++++++++++++++++++
 launch/visual_gps_sim.launch      |  1 +
 7 files changed, 128 insertions(+), 32 deletions(-)
 create mode 100644 config/blue_lab.yaml
 create mode 100644 config/green_lab.yaml
 create mode 100644 config/red_lab.yaml
 create mode 100644 config/yellow_lab.yaml
 create mode 100644 launch/visual_gps_nodelets.launch

diff --git a/config/blue_lab.yaml b/config/blue_lab.yaml
new file mode 100644
index 0000000..e5f517d
--- /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 0000000..00d14fb
--- /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 0000000..85f4dc9
--- /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 0000000..3928b14
--- /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 22bcbb4..72fc997 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)/$(arg positions_file)" command="load" />
   </node>
 </launch>
diff --git a/launch/visual_gps_nodelets.launch b/launch/visual_gps_nodelets.launch
new file mode 100644
index 0000000..c5312ea
--- /dev/null
+++ b/launch/visual_gps_nodelets.launch
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+  <node pkg="nodelet" type="nodelet" name="visual_gps_nodelet"  args="manager" output="screen">
+    
+  </node>
+
+  <node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
+    <remap from="~/blobs" to="/visual_gps/color1_blobs"/>
+    <rosparam file="$(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 b57a28e..dca24e9 100644
--- a/launch/visual_gps_sim.launch
+++ b/launch/visual_gps_sim.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <!-- -->
 <launch>
 
-- 
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