Commit 091e2724 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Subscribe to image_raw again, as detector seems to rectify

parent 5bb7b80a
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<launch> <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" <node name="ar_track_alvar"
pkg="ar_track_alvar" pkg="ar_track_alvar"
type="individualMarkersNoKinect" type="individualMarkersNoKinect"
respawn="false" respawn="false"
output="screen"> output="screen">
<param name="marker_size" type="double" value="6.0" /> <param name="marker_size" type="double" value="$(arg marker_size)" />
<param name="max_new_marker_error" type="double" value="0.08" /> <param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" /> <param name="max_track_error" type="double" value="0.2" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" /> <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" /> <remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
</node> </node>
</launch> </launch>
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