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22 lines
1.1 KiB
Plaintext
22 lines
1.1 KiB
Plaintext
<launch>
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<node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="publish_rate" value="10"/>
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<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
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</node>
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="length" value="0.33"/>
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<param name="estimate_poses" value="true"/>
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<param name="send_tf" value="true"/>
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<param name="cornerRefinementMethod" value="1"/>
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</node>
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<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
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<test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
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</launch>
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