From afbe09d227a55e8918962f90a9c8293a1936705e Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 17 Sep 2018 17:44:06 +0200
Subject: [PATCH] Updated color yaml files and added non-nodelet launch example
---
config/blue_conf.yaml | 6 ++--
config/sim_position.yaml | 4 +--
launch/visual_gps.launch | 9 +++---
launch/visual_gps_sim.launch | 41 +++++++++++++++++++--------
launch/visual_gps_sim_nodelets.launch | 41 +++++++++++++++++++++++++++
5 files changed, 80 insertions(+), 21 deletions(-)
create mode 100644 launch/visual_gps_sim_nodelets.launch
diff --git a/config/blue_conf.yaml b/config/blue_conf.yaml
index beeba6d..87d1cd2 100644
--- a/config/blue_conf.yaml
+++ b/config/blue_conf.yaml
@@ -1,9 +1,9 @@
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
diff --git a/config/sim_position.yaml b/config/sim_position.yaml
index 99d7282..5652a75 100644
--- a/config/sim_position.yaml
+++ b/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
diff --git a/launch/visual_gps.launch b/launch/visual_gps.launch
index ed0c943..22bcbb4 100644
--- a/launch/visual_gps.launch
+++ b/launch/visual_gps.launch
@@ -1,3 +1,4 @@
+<!-- -->
<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"/>
diff --git a/launch/visual_gps_sim.launch b/launch/visual_gps_sim.launch
index b4a5e0b..75c7f08 100644
--- a/launch/visual_gps_sim.launch
+++ b/launch/visual_gps_sim.launch
@@ -1,32 +1,49 @@
+<!-- -->
<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)/$(arg positions_file)" command="load" />
</node>
</launch>
diff --git a/launch/visual_gps_sim_nodelets.launch b/launch/visual_gps_sim_nodelets.launch
new file mode 100644
index 0000000..aa0f395
--- /dev/null
+++ b/launch/visual_gps_sim_nodelets.launch
@@ -0,0 +1,41 @@
+<!-- -->
+<launch>
+
+ <node pkg="nodelet" type="nodelet" name="visual_gps_nodelet" args="manager" output="screen">
+
+ </node>
+
+ <node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
+ <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+ <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
+ <remap from="~/blobs" to="/visual_gps/color1_blobs"/>
+ <rosparam file="$(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>
--
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