From 091e2724f70bdcceafbe511649cbbb7ed3f04aa6 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez <shernand@iri.upc.edu>
Date: Mon, 8 Mar 2021 18:18:53 +0100
Subject: [PATCH] Subscribe to image_raw again, as detector seems to rectify
---
launch/adc_ar_detector.launch | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/launch/adc_ar_detector.launch b/launch/adc_ar_detector.launch
index 8ee1624..4c7e016 100644
--- a/launch/adc_ar_detector.launch
+++ b/launch/adc_ar_detector.launch
@@ -1,17 +1,18 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="car_name" default="adc_car"/>
+ <arg name="car_name" default="adc_car"/>
+ <arg name="marker_size" default="5.0"/>
<node name="ar_track_alvar"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
output="screen">
- <param name="marker_size" type="double" value="6.0" />
+ <param name="marker_size" type="double" value="$(arg marker_size)" />
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
- <remap from="/camera_image" to="$(arg car_name)/sensors/basler_camera/image_rect" />
+ <remap from="/camera_image" to="$(arg car_name)/sensors/basler_camera/image_raw" />
<remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
</node>
</launch>
--
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