Commit 88f044a7 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Added /adc_sign_localization.launch

parent 6b4729d9
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="car_name" default="adc_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="marker_size" default="5.0"/>
<arg name="dr" default="true"/>
<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="/$(arg car_name)/ar_pose_marker" />
</node>
<include file="$(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="/$(arg car_name)/ar_pose_marker"/>
</include>
<node name="rqt_reconfigure_iri_adc_tag_localization_filter"
pkg ="rqt_reconfigure"
type="rqt_reconfigure"
if ="$(arg dr)"
args="iri_adc_tag_localization_filter">
</node>
</launch>
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