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New launch file for aruco_pose and vpe_publisher

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Oleg Kalachev
2019-02-27 23:12:47 +03:00
parent 25c485043d
commit a12175ed70
1 changed files with 27 additions and 17 deletions
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44
clever/launch/aruco.launch
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@@ -1,24 +1,34 @@
<launch>
<remap from="image" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<arg name="aruco_detect" default="true"/>
<arg name="aruco_map" default="false"/>
<arg name="aruco_vpe" default="false"/>
<node pkg="nodelet" type="nodelet" name="aruco_pose" args="load aruco_pose/aruco_pose nodelet_manager" clear_params="true">
<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"/>
<!-- Custom gridboard: -->
<!--<rosparam param="marker_ids">[6, 5, 4, 3, 2, 1]</rosparam>-->
<!-- aruco_detect: detect aruco markers, estimate poses -->
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<param name="estimate_poses" value="true"/>
<param name="send_tf" value="true"/>
<param name="known_tilt" value="map"/>
<param name="length" value="0.33"/>
</node>
<node pkg="nodelet" type="nodelet" name="aruco_vpe" args="load clever/aruco_vpe nodelet_manager" clear_params="true">
<param name="aruco_orientation" value="map"/>
<!--<param name="aruco_orientation" value="map_upside_down"/>-->
<!-- aruco_map: estimate aruco map pose -->
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
<remap from="markers" to="aruco_detect/markers"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<param name="map" value="$(find aruco_pose)/map/map.txt"/>
<param name="known_tilt" value="map"/>
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
</node>
<param name="use_mocap" value="true"/>
<!-- vpe publisher from aruco markers -->
<node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
<remap from="~pose_cov" to="aruco_map/pose"/>
<remap from="~vpe" to="mavros/vision_pose/pose"/>
<param name="frame_id" value="aruco_map_detected"/>
<param name="publish_zero" value="true"/>
<param name="offset_frame_id" value="aruco_map"/>
</node>
</launch>