From c254691f8049934c19ca6d7ddeb8b333c4a7133f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 5 Aug 2020 02:06:41 +0300
Subject: [PATCH] Adjust aruco.launch arguments

---
 clover/launch/aruco.launch | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
index 326e44a8..e5a9b1f6 100644
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -1,7 +1,10 @@
 <launch>
-    <arg name="aruco_detect" default="false"/>
-    <arg name="aruco_map" default="false"/>
-    <arg name="aruco_vpe" default="false"/>
+    <arg name="aruco_detect" default="false"/> <!-- markers recognition enabled -->
+    <arg name="aruco_map" default="false"/> <!-- markers map recognition enabled -->
+    <arg name="aruco_vpe" default="false"/> <!-- markers map positioning enabled -->
+    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
+    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
@@ -12,8 +15,9 @@
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map"/>
-        <param name="length" value="0.33"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval position == 'ceiling')"/>
+        <param name="length" value="$(arg length)"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
@@ -24,8 +28,9 @@
         <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="$(find aruco_pose)/map/map.txt"/>
-        <param name="known_tilt" value="map"/>
+        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>