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2cd334c474
* aruco_detect: dynamic reconfiguration * aruco_pose: Depend on dynamic_reconfigure * aruco_pose: Use c++11 features instead of Boost * aruco_pose: Rearrange parameters, reset to OpenCV defaults * Update constrains for some parameters * aruco_pose: don’t hard-cord defaults for dynamic reconfigure * aruco_pose: add missing parameters * aruco_pose: fix tests * aruco_pose: typo * aruco_pose: fix * aruco_pose: fix test * aruco_pose: hardcode some new dynamic reconfigure parameters Co-authored-by: Alexey Rogachevskiy <sfalexrog@gmail.com> Co-authored-by: Arthur Golubtsov <goldartt@gmail.com>
33 lines
1.7 KiB
Plaintext
33 lines
1.7 KiB
Plaintext
<launch>
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<node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/map.png">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="publish_rate" value="10"/>
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<param name="camera_info_url" value="file://$(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="length_override/3" value="0.1"/>
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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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<node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" 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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<remap from="markers" to="aruco_detect/markers"/>
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<param name="type" value="map"/>
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<param name="map" value="$(find aruco_pose)/test/basic.txt"/>
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<param name="markers/frame_id" value="aruco_map"/>
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<param name="markers/child_frame_id_prefix" value="aruco_in_map_"/>
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</node>
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<param name="test_module" value="$(find aruco_pose)/test/basic.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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