CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 21:19:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

clover: Attempt to respawn dying nodelets

Browse Source
This commit is contained in:
Alexey Rogachevskiy
2020-11-07 16:52:57 +03:00
parent 8bd4d3a8f8
commit ced9b56452
3 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
clover/launch/aruco.launch
View File

@@ -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="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
<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">
<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">
<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"/>

4
clover/launch/clover.launch
View File

@@ -37,7 +37,7 @@
<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="$(arg optical_flow)" clear_params="true" output="screen">
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
<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"/>
@@ -45,7 +45,7 @@
</node>
<!-- main nodelet manager -->
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
<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>

2
clover/launch/main_camera.launch
View File

@@ -18,7 +18,7 @@
<!-- <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 node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)">
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
<param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
<param name="frame_id" value="main_camera_optical"/>
<param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>