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25 lines
1.0 KiB
XML
25 lines
1.0 KiB
XML
<launch>
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<remap from="image" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<node pkg="nodelet" type="nodelet" name="aruco_pose" args="load aruco_pose/aruco_pose nodelet_manager" clear_params="true">
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<param name="frame_id" value="aruco_map_raw"/>
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<param name="type" value="gridboard"/>
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<param name="markers_x" value="1"/>
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<param name="markers_y" value="6"/>
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<param name="first_marker" value="240"/>
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<param name="markers_side" value="0.3362"/>
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<param name="markers_sep" value="0.46"/>
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<!-- Custom gridboard: -->
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<!--<rosparam param="marker_ids">[6, 5, 4, 3, 2, 1]</rosparam>-->
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</node>
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<node pkg="nodelet" type="nodelet" name="aruco_vpe" args="load clever/aruco_vpe nodelet_manager" clear_params="true">
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<param name="aruco_orientation" value="map"/>
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<!--<param name="aruco_orientation" value="map_upside_down"/>-->
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<param name="use_mocap" value="true"/>
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</node>
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</launch>
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