Commit 3574ef33 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Updated launch and rviz files to a namespace

parent 35673dfb
horizontal_fov: 2.25
width: 640
height: 480
width: 1280
height: 960
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
......
......@@ -18,28 +18,30 @@
<arg name="amcl_config" default="$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"/>
<!-- Ar track alvar (bringup??) -->
<node name="ar_track_alvar"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
output="screen">
<param name="marker_size" type="double" value="$(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_raw" />
<remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node>
<group ns="$(arg car_name)">
<node name="ar_track_alvar"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
output="screen">
<param name="marker_size" type="double" value="$(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="$(arg car_name)/front_camera_uvc_camera_optical" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node>
<include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
<arg name="node_name" value="iri_adc_tag_localization_filter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
<arg name="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/ar_pose_marker"/>
</include>
<include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
<arg name="node_name" value="iri_adc_tag_localization_filter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
<arg name="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/ar_pose_marker"/>
</include>
</group>
<include file="$(find iri_rosnav)/launch/include/map_server.launch">
<arg name="ns" value="$(arg car_name)"/>
......
......@@ -739,23 +739,23 @@ Visualization Manager:
Displays:
- Class: rviz/Marker
Enabled: true
Marker Topic: /visualization_marker
Marker Topic: /adc_car/visualization_marker
Name: Alvar_marker
Namespaces:
basic_shapes: true
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_adc_tag_localization_filter/vis_features
Marker Topic: /adc_car/iri_adc_tag_localization_filter/vis_features
Name: Features
Namespaces:
adc_car/front_camera_uvc_camera_optical_features: true
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_adc_landmarks_slam_solver/landmarks
Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/landmarks
Name: Landmarks
Namespaces:
{}
......
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