Commit b3146c53 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Added front and rear camera ar tag filters to launch

parent acd1aeec
......@@ -12,7 +12,7 @@ ids_enabled: "0, 1, 2"
time_persistance_filter_en: True
time_persistance_filter_orientation_en: True
time_persistance_alpha_window: 0.1
time_persistance_alpha_window: 0.15
time_persistance_range_window: 0.2
time_persistance_orientation_th: 0.4
time_persistance_min_detections: 4
......@@ -20,10 +20,13 @@
<arg name="landmarks_config_file" default="amcl_mapping.yaml"/>
<arg name="landmarks_data_dir" default="$(find iri_adc_launch)/data/sample_parking"/>
<arg name="landmarks_file" default="landmarks.txt"/>
<arg name="features_topic_name" default="/$(arg car_name)/features"/>
<arg name="use_rear_camera_loc" default="false"/>
<!-- Ar track alvar (bringup??) -->
<group ns="$(arg car_name)">
<node name="ar_track_alvar"
<!--Front ar track_alvar -->
<node name="front_ar_track_alvar"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
......@@ -37,20 +40,23 @@
<remap from="/$(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="/$(arg car_name)/ar_pose_marker" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/front_ar_pose_marker" />
</node>
<!-- Front ar tag filter -->
<include file="$(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="$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"/>
<arg name="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/ar_pose_marker"/>
<arg name="node_name" value="front_iri_adc_tag_localization_filter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"/>
<arg name="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/front_ar_pose_marker"/>
<arg name="features_output_topic" value="$(arg features_topic_name)"/>
</include>
<!-- Front image inverter -->
<include file="$(find iri_image_inverter)/launch/node.launch">
<arg name="node_name" value="iri_image_inverter"/>
<arg name="node_name" value="front_iri_image_inverter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<!--<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
......@@ -59,6 +65,7 @@
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera/inverted_image_raw"/>
</include>
<!--<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node name="crop_image"
......@@ -70,6 +77,48 @@
<rosparam file="$(find iri_adc_launch)/config/adc_common/crop_front_image.yaml" command="load"/>
</node>-->
<group if="$(arg use_rear_camera_loc)">
<!--rear ar track_alvar -->
<node name="rear_ar_track_alvar"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
output="screen">
<param name="marker_size" type="double" value="$(arg marker_size)" />
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" />
<param name="output_frame" type="string" value="$(arg car_name)/rear_camera_uvc_camera_optical" />
<!--<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/delock_camera_cropped/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/delock_camera_cropped/camera_info" />-->
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/delock_camera/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/delock_camera/camera_info" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/rear_ar_pose_marker" />
</node>
<!-- Front ar tag filter -->
<include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
<arg name="node_name" value="rear_iri_adc_tag_localization_filter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"/>
<arg name="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/rear_ar_pose_marker"/>
<arg name="features_output_topic" value="$(arg features_topic_name)"/>
</include>
<!-- Front image inverter -->
<include file="$(find iri_image_inverter)/launch/node.launch">
<arg name="node_name" value="rear_iri_image_inverter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<!--<arg name="image_in_topic" value="/$(arg car_name)/sensors/delock_camera_cropped/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/delock_camera_cropped/inverted_image_raw"/>-->
<arg name="image_in_topic" value="/$(arg car_name)/sensors/delock_camera/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/delock_camera/inverted_image_raw"/>
</include>
</group>
<include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
<arg name="node_name" value="iri_adc_landmarks_slam_solver"/>
<arg name="output" value="$(arg output)"/>
......@@ -78,7 +127,7 @@
<arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
<arg name="estimated_pose_topic_name" value="/$(arg car_name)/estimated_pose"/>
<arg name="initialpose_topic_name" value="/$(arg car_name)/initialpose"/>
<arg name="features_topic_name" value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
<arg name="features_topic_name" value="$(arg features_topic_name)"/>
<arg name="initial_pose_x" value="$(arg car_x)"/>
<arg name="initial_pose_y" value="$(arg car_y)"/>
<arg name="initial_pose_yaw" value="$(arg car_yaw)"/>
......
......@@ -747,10 +747,18 @@ Visualization Manager:
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /adc_car/iri_adc_tag_localization_filter/vis_features
Name: Features
Marker Topic: /adc_car/front_iri_adc_tag_localization_filter/vis_features
Name: FrontFeatures
Namespaces:
adc_car/front_camera_uvc_camera_optical_features: true
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /adc_car/rear_iri_adc_tag_localization_filter/vis_features
Name: RearFeatures
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
......
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