Updated color yaml files and added non-nodelet launch example

config/blue_conf.yaml

 color_id: blue
 H_center: 240
 H_window: 10
-S_center: 250
+S_center: 255
 S_window: 10
 V_center: 102
-V_window: 8
+V_window: 10
 max_area: 100000
-min_area: 10
+min_area: 10
\ No newline at end of file

config/sim_position.yaml

@@ -9,9 +9,9 @@ color2_z: 4.0
 color3_id: yellow
 color3_x: -2.5
 color3_y: -5.0
-color3_z: 2.0
+color3_z: 4.0
 color4_id: blue
 color4_x: 0.0
 color4_y: -7.5
-color4_z: 2.0
+color4_z: 4.0
 

launch/visual_gps.launch

+<!-- -->
 <launch>
   <node pkg="nodelet" type="nodelet" name="visual_gps_nodelet"  args="manager" output="screen">
     
@@ -7,25 +8,25 @@
     <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="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
+    <rosparam file="$(find iri_blob_detector)/config/red_conf.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="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
+    <rosparam file="$(find iri_blob_detector)/config/blue_conf.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="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
+    <rosparam file="$(find iri_blob_detector)/config/green_conf.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="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
+    <rosparam file="$(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"/>

launch/visual_gps_sim.launch

+<!-- -->
 <launch>
 
-  <node pkg="nodelet" type="nodelet" name="visual_gps_nodelet"  args="manager" output="screen">
-    
-  </node>
+  <arg name="positions_file" default="sim_position_track18.yaml"/>
+  <arg name="positions_path" default="$(find iri_visual_gps)/config"/>
+  
+  <arg name="config_yaml_file_location" default="$(find iri_visual_gps)/config"/>
 
-  <node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
+  <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="$(find iri_visual_gps)/config/green_conf.yaml" command="load" />
+    <rosparam file="$(arg config_yaml_file_location)/green_conf.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="$(find iri_visual_gps)/config/red_conf.yaml" command="load" />
+    <rosparam file="$(arg config_yaml_file_location)/red_conf.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="$(find iri_visual_gps)/config/yellow_conf.yaml" command="load" />
+    <rosparam file="$(arg config_yaml_file_location)/yellow_conf.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="$(find iri_visual_gps)/config/blue_conf.yaml" command="load" />
+    <rosparam file="$(arg config_yaml_file_location)/blue_conf.yaml" command="load" />
   </node>
 
   <node pkg="iri_visual_gps" 
@@ -35,6 +52,6 @@
         output="screen">
     <remap from="~/camera/camera_info" to="/usb_cam/camera_info"/>
     <remap from="~/set_camera_params" to="/usb_cam/set_parameters"/>
-    <rosparam file="$(find iri_visual_gps)/config/sim_position.yaml" command="load" />
+    <rosparam file="$(arg positions_path)/$(arg positions_file)" command="load" />
   </node>
 </launch>

launch/visual_gps_sim_nodelets.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">
+    <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="$(find iri_visual_gps)/config/green_conf.yaml" command="load" />
+  </node>
+  <node pkg="nodelet" type="nodelet" name="blob_detector_color2" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
+    <remap from="~/blobs" to="/visual_gps/color2_blobs"/>
+    <rosparam file="$(find iri_visual_gps)/config/red_conf.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="$(find iri_visual_gps)/config/yellow_conf.yaml" command="load" />
+  </node>
+  <node pkg="nodelet" type="nodelet" name="blob_detector_color4" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
+    <remap from="~/blobs" to="/visual_gps/color4_blobs"/>
+    <rosparam file="$(find iri_visual_gps)/config/blue_conf.yaml" command="load" />
+  </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/sim_position.yaml" command="load" />
+  </node>
+</launch>