From 4d8810a66795228b44863cd4c1e6ddba50d2ef53 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 20 Dec 2017 22:19:16 +0300
Subject: [PATCH] Transfer nodelet_manager to clever.launch

---
 clever/launch/bottom_camera.launch | 4 ----
 clever/launch/clever.launch        | 6 ++++++
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch
index 5662c4f0..87ecb77a 100644
--- a/clever/launch/bottom_camera.launch
+++ b/clever/launch/bottom_camera.launch
@@ -1,8 +1,4 @@
 <launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
     <!-- the bottom facing camera -->
 
     <!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index e53cb5b5..3fc09faf 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -26,8 +26,14 @@
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
 
+    <!-- aruco vpe -->
     <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
 
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
+    <!-- fcu_horiz frame -->
     <node pkg="nodelet" type="nodelet" name="fcu_horiz" args="standalone clever/fcu_horiz" output="screen" clear_params="true"/>
 
     <!-- simplified offboard control -->