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Commit a307d1a5 authored by Fernando Herrero's avatar Fernando Herrero
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Updated launchs. Added lab color yamls

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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
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
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
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
<?xml version="1.0"?>
<!-- --> <!-- -->
<launch> <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/image_raw" to="/usb_cam/image_raw"/>
<remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/blobs" to="/visual_gps/color1_blobs"/> <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>
<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/image_raw" to="/usb_cam/image_raw"/>
<remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/blobs" to="/visual_gps/color2_blobs"/> <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>
<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/image_raw" to="/usb_cam/image_raw"/>
<remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/blobs" to="/visual_gps/color3_blobs"/> <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>
<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/image_raw" to="/usb_cam/image_raw"/>
<remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/blobs" to="/visual_gps/color4_blobs"/> <remap from="~/blobs" to="/visual_gps/color4_blobs"/>
<rosparam file="$(find iri_blob_detector)/config/yellow_conf.yaml" command="load" /> <rosparam file="$(arg config_yaml_file_location)/blue_lab.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>
<node pkg="iri_visual_gps" <node pkg="iri_visual_gps"
...@@ -55,6 +53,6 @@ ...@@ -55,6 +53,6 @@
output="screen"> output="screen">
<remap from="~/camera/camera_info" to="/usb_cam/camera_info"/> <remap from="~/camera/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/set_camera_params" to="/usb_cam/set_parameters"/> <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)/$(arg positions_file)" command="load" />
</node> </node>
</launch> </launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<node pkg="nodelet" type="nodelet" name="visual_gps_nodelet" args="manager" output="screen">
</node>
<node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
<remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
<remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/blobs" to="/visual_gps/color1_blobs"/>
<rosparam file="$(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>
<?xml version="1.0"?>
<!-- --> <!-- -->
<launch> <launch>
......
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