From 492f00fe2fd085a4ac1b39e7d5eeaaad218c7f74 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Tue, 18 May 2021 15:31:29 +0200
Subject: [PATCH] Commented image_proc crop
---
launch/adc_global_localization.launch | 16 ++++++++++------
1 file changed, 10 insertions(+), 6 deletions(-)
diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
index f91451c..c284d32 100644
--- a/launch/adc_global_localization.launch
+++ b/launch/adc_global_localization.launch
@@ -33,8 +33,10 @@
<param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
- <remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw" />
- <remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_cropped/camera_info" />
+ <!--<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw" />
+ <remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_cropped/camera_info" />-->
+ <remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/inverted_image_raw" />
+ <remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node>
@@ -51,11 +53,13 @@
<arg name="node_name" value="iri_image_inverter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
- <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
- <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/>
+ <!--<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
+ <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/>-->
+ <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
+ <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera/inverted_image_raw"/>
</include>
- <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
+ <!--<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node name="crop_image"
pkg="nodelet"
@@ -64,7 +68,7 @@
<remap from="camera" to="/$(arg car_name)/sensors/basler_camera"/>
<remap from="camera_out" to="/$(arg car_name)/sensors/basler_camera_cropped"/>
<rosparam file="$(find iri_adc_launch)/config/adc_common/crop_front_image.yaml" command="load"/>
- </node>
+ </node>-->
<include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
<arg name="node_name" value="iri_adc_landmarks_slam_solver"/>
--
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