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launch-file for aruco_pose

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This commit is contained in:
Oleg Kalachev
2017-11-29 19:30:24 +03:00
parent 1ae91963a8
commit 0c6f6c29ae
2 changed files with 15 additions and 1 deletions
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13
clever/launch/aruco.launch Normal file
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@@ -0,0 +1,13 @@
<launch>
<node pkg="nodelet" type="nodelet" name="aruco_pose" args="load aruco_pose/aruco_pose nodelet_manager">
<param name="frame_id" value="aruco_map_raw"/>
<param name="type" value="gridboard"/>
<param name="markers_x" value="1"/>
<param name="markers_y" value="6"/>
<param name="first_marker" value="240"/>
<param name="markers_side" value="0.3362"/>
<param name="markers_sep" value="0.46"/>
</node>
<node pkg="clever" type="aruco_vpe.py" name="aruco_vpe" output="screen"/>
</launch>

3
clever/launch/clever.launch
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@@ -7,6 +7,7 @@
<arg name="web_video_server" default="true"/>
<arg name="rosbridge" default="true"/>
<arg name="camera" default="false"/>
<arg name="aruco" default="false"/>
<arg name="fpv_camera" default="true"/>
<arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
<arg name="arduino" default="false"/>
@@ -25,7 +26,7 @@
<!-- web video server -->
<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)"/>
<!-- TODO: marker position estimator -->
<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
<!-- simplified offboard control -->
<node name="simple_offboard" pkg="clever" type="simple_offboard.py" output="screen"/>