From 0c6f6c29ae5911ec7c5f58793417d770b424fc7f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 29 Nov 2017 19:30:24 +0300
Subject: [PATCH] launch-file for aruco_pose

---
 clever/launch/aruco.launch  | 13 +++++++++++++
 clever/launch/clever.launch |  3 ++-
 2 files changed, 15 insertions(+), 1 deletion(-)
 create mode 100644 clever/launch/aruco.launch

diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch
new file mode 100644
index 00000000..2c3915bb
--- /dev/null
+++ b/clever/launch/aruco.launch
@@ -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>
diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index ab129b56..57352d61 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -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"/>