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40 lines
2.0 KiB
XML
40 lines
2.0 KiB
XML
<launch>
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<arg name="aruco_detect" default="true"/>
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<arg name="aruco_map" default="false"/>
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<arg name="aruco_vpe" default="false"/>
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<!-- For additional help go to https://clever.copterexpress.com/aruco.html -->
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<!-- aruco_detect: detect aruco markers, estimate poses -->
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<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="estimate_poses" value="true"/>
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<param name="send_tf" value="true"/>
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<param name="known_tilt" value="map"/>
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<param name="length" value="0.33"/>
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</node>
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<!-- aruco_map: estimate aruco map pose -->
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<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
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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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<remap from="markers" to="aruco_detect/markers"/>
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<param name="map" value="$(find aruco_pose)/map/map.txt"/>
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<param name="known_tilt" value="map"/>
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<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
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<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
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<param name="markers/frame_id" value="aruco_map"/>
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<param name="markers/child_frame_id_prefix" value="aruco_"/>
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</node>
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<!-- vpe publisher from aruco markers -->
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<node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
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<remap from="~pose_cov" to="aruco_map/pose"/>
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<remap from="~vpe" to="mavros/vision_pose/pose"/>
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<param name="frame_id" value="aruco_map_detected"/>
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<param name="publish_zero" value="true"/>
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<param name="offset_frame_id" value="aruco_map"/>
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</node>
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</launch>
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