diff --git a/launch/visual_gps.launch b/launch/visual_gps.launch index 9cd14a344fc4747ab3cd42b006d665e9f322e3d9..6307306f6f06b0bdf4c87404f360b279369deb74 100644 --- a/launch/visual_gps.launch +++ b/launch/visual_gps.launch @@ -4,26 +4,26 @@ </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="/camera/image_raw"/> - <remap from="~/image_in/camera_info" to="/camera/camera_info"/> + <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="$(find iri_blob_detector)/config/default_params.yaml" command="load" /> </node> <node pkg="nodelet" type="nodelet" name="blob_detector_color2" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> - <remap from="~/image_in/image_raw" to="/camera/image_raw"/> - <remap from="~/image_in/camera_info" to="/camera/camera_info"/> + <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> + <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/blobs" to="/visual_gps/color2_blobs"/> <rosparam file="$(find iri_blob_detector)/config/default_params.yaml" command="load" /> </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="/camera/image_raw"/> - <remap from="~/image_in/camera_info" to="/camera/camera_info"/> + <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="$(find iri_blob_detector)/config/default_params.yaml" command="load" /> </node> <node pkg="nodelet" type="nodelet" name="blob_detector_color4" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen"> - <remap from="~/image_in/image_raw" to="/camera/image_raw"/> - <remap from="~/image_in/camera_info" to="/camera/camera_info"/> + <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/> + <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/> <remap from="~/blobs" to="/visual_gps/color4_blobs"/> <rosparam file="$(find iri_blob_detector)/config/default_params.yaml" command="load" /> </node> @@ -44,16 +44,16 @@ <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="/camera/image_raw"/> - <remap from="/camera_info" to="/camera/camera_info"/> + <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="/camera/camera_info"/> - <remap from="~/set_camera_params" to="/camera/set_parameters"/> + <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" /> </node> </launch>