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Commit afbe09d2 authored by Fernando Herrero's avatar Fernando Herrero
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Updated color yaml files and added non-nodelet launch example

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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
......@@ -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>
<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>
<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)/$(arg positions_file)" command="load" />
</node>
</launch>
<!-- -->
<launch>
<node pkg="nodelet" type="nodelet" name="visual_gps_nodelet" args="manager" output="screen">
</node>
<node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
<remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
<remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
<remap from="~/blobs" to="/visual_gps/color1_blobs"/>
<rosparam file="$(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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