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aruco_pose: add sample launch file

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Oleg Kalachev
2019-03-01 16:22:53 +03:00
parent 35f6780469
commit b8f5dc3cc3
1 changed files with 26 additions and 0 deletions
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aruco_pose/launch/sample.launch Normal file
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<launch>
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
<!-- camera node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
<param name="frame_id" value="main_camera_optical"/>
<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
<param name="image_width" value="640"/>
<param name="image_height" value="480"/>
</node>
<!-- detect aruco markers -->
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<param name="length" value="0.33"/>
</node>
<!-- aruco map -->
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" args="load aruco_pose/aruco_map nodelet_manager">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="markers" to="aruco_detect/markers"/>
<param name="map" value="$(find aruco_pose)/map/map.txt"/>
</node>
</launch>