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27 lines
1.2 KiB
XML
27 lines
1.2 KiB
XML
<launch>
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
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<!-- camera node -->
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<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
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<param name="image_width" value="640"/>
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<param name="image_height" value="480"/>
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</node>
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<!-- detect aruco markers -->
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="length" value="0.33"/>
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</node>
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<!-- aruco map -->
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" args="load aruco_pose/aruco_map nodelet_manager">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="markers" to="aruco_detect/markers"/>
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<param name="map" value="$(find aruco_pose)/map/map.txt"/>
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</node>
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</launch>
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