From d5b5b58e911b80475ddd575b5ee0745a67181675 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 4 May 2018 17:34:08 +0200
Subject: [PATCH] Changed the remaps to coincide with the real robot topic
names.
---
launch/visual_gps.launch | 24 ++++++++++++------------
1 file changed, 12 insertions(+), 12 deletions(-)
diff --git a/launch/visual_gps.launch b/launch/visual_gps.launch
index 9cd14a3..6307306 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>
--
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