Commit 7d36f634 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Add launch to detect inverted ar markers

parent 878b5c0f
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="car_name" default="adc_car"/>
<arg name="marker_size" default="5.0"/>
<node name="ar_track_alvar_inverse"
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="$(arg car_name)/sensors/basler_camera_inverse/image_raw" />
<remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera_inverse/camera_info" />
</node>
<include file="$(find iri_image_inverter)/launch/node.launch">
<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_inverse/image_raw"/>
</include>
</launch>
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