Merge branch 'master' of...

Merge branch 'master' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/adc/platform/model_car/model_car_bringup

launch/cnn.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="car_name"      default="model_car"/>
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+
+  <arg name="cnn_node_name" default="traffic_sign_classifier"/>
+  <arg name="model_path" default="$(find sc20_traffic_sign_classifier)/model/trafficsignnet.model"/>
+  <arg name="class_file" default="$(find sc20_traffic_sign_classifier)/cnn/signnames.csv"/>
+  <arg name="virtual_env_path" default="$(env HOME)/iri-lab/summer_school/traffic_sign_venv"/>
+
+  <include file="$(find sc20_cnn_main)/launch/node.launch">
+    <arg name="node_name"     value="sc20_cnn_main"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    <arg name="image_topic"   value="$(arg car_name)/sensors/basler_camera/image_raw"/>
+    <arg name="camera_info_topic"  value="$(arg car_name)/sensors/basler_camera/camera_info"/>
+    <arg name="markers_topic"  value="$(arg car_name)/markers_out"/>
+    <!-- <arg name="car_control_topic"  value="$(arg car_name)/control"/>-->
+    <arg name="classify_service"  value="$(arg car_name)/get_class"/>
+    <arg name="odom_topic" value="$(arg car_name)/local_odom_combined"/>
+  </include>
+
+  <node name="ar_track_alvar" 
+        pkg="ar_track_alvar" 
+        type="individualMarkersNoKinect" 
+        respawn="false" 
+        output="screen">
+    <param name="marker_size"           type="double" value="5.0" />
+    <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)/markers_in"/>
+  </node>
+
+  <include file="$(find sc20_cnn_ar_tag)/launch/node.launch">
+    <arg name="node_name"     value="sc20_cnn_ar_tag"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    <arg name="markers_in_topic" value="$(arg car_name)/markers_in"/>
+    <arg name="markers_out_topic" value="$(arg car_name)/markers_out"/>
+  </include>
+
+  <include file="$(find sc20_traffic_sign_classifier)/launch/node.launch">
+    <arg name="node_name" value="$(arg cnn_node_name)"/>
+    <arg name="output" value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    <arg name="model_path" value="$(arg model_path)"/>
+    <arg name="class_file" value="$(arg class_file)"/>
+    <arg name="virtual_env_path" value="$(arg virtual_env_path)"/>
+    <arg name="classify_service" value="$(arg car_name)/get_class"/>
+  </include>
+
+</launch>