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Transfer main camera nodelet manager to main_camera.launch

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This commit is contained in:
Oleg Kalachev
2021-06-03 09:04:29 +03:00
parent 9221920d5b
commit 35e9d5827a
3 changed files with 9 additions and 9 deletions
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4
clover/launch/aruco.launch
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@@ -9,7 +9,7 @@
<!-- For additional help go to https://clover.coex.tech/aruco -->
<!-- aruco_detect: detect aruco markers, estimate poses -->
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
@@ -26,7 +26,7 @@
</node>
<!-- aruco_map: estimate aruco map pose -->
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="markers" to="aruco_detect/markers"/>

7
clover/launch/clover.launch
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@@ -36,18 +36,13 @@
<include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
<!-- optical flow -->
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<param name="calc_flow_gyro" value="true"/>
<param name="roi_rad" value="0.8"/>
</node>
<!-- main nodelet manager -->
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
<param name="num_worker_threads" value="2"/>
</node>
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
<!-- simplified offboard control -->

7
clover/launch/main_camera.launch
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@@ -18,8 +18,13 @@
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
<!-- camera nodelet manager -->
<node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
<param name="num_worker_threads" value="2"/>
</node>
<!-- camera node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
<param name="device_path" value="$(arg device)"/>
<param name="frame_id" value="main_camera_optical"/>
<param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>