mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-26 21:19:35 +00:00
28 lines
1.3 KiB
Plaintext
28 lines
1.3 KiB
Plaintext
<launch>
|
|
<node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/map.png">
|
|
<param name="frame_id" value="main_camera_optical"/>
|
|
<param name="publish_rate" value="10"/>
|
|
<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
|
|
</node>
|
|
|
|
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
|
|
|
|
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
|
|
<remap from="image_raw" to="main_camera/image_raw"/>
|
|
<remap from="camera_info" to="main_camera/camera_info"/>
|
|
<param name="length" value="0.33"/>
|
|
<param name="length_override/3" value="0.1"/>
|
|
<param name="estimate_poses" value="true"/>
|
|
</node>
|
|
|
|
<node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="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"/>
|
|
<param name="type" value="map"/>
|
|
<param name="map" value="$(find aruco_pose)/test/basic.txt"/>
|
|
</node>
|
|
|
|
<test test-name="test_aruco_pose" pkg="aruco_pose" type="basic.py"/>
|
|
</launch>
|