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Commit 16d1a944 authored by Johannes Mey's avatar Johannes Mey
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restructure launch files

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...@@ -9,5 +9,5 @@ tag_refine_edges: 1 # default: 1 ...@@ -9,5 +9,5 @@ tag_refine_edges: 1 # default: 1
tag_debug: 1 # default: 0 tag_debug: 1 # default: 0
max_hamming_dist: 2 # default: 2 (Tunable parameter with 2 being a good choice - values >=3 consume large amounts of memory. Choose the largest value possible.) max_hamming_dist: 2 # default: 2 (Tunable parameter with 2 being a good choice - values >=3 consume large amounts of memory. Choose the largest value possible.)
# Other parameters # Other parameters
publish_tf: true # default: false publish_tf: false # default: false
transport_hint: "raw" # default: raw, see http://wiki.ros.org/image_transport#Known_Transport_Packages for options transport_hint: "raw" # default: raw, see http://wiki.ros.org/image_transport#Known_Transport_Packages for options
<launch> <launch>
<arg name="launch_prefix" default="" /> <!-- set to value="gdbserver localhost:10000" for remote debugging --> <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator"/>
<arg name="node_namespace" default="apriltag_ros_continuous_node" />
<arg name="camera_name" default="/usb_cam" />
<arg name="image_topic" default="image_rect" />
<!-- Set parameters -->
<rosparam command="load" file="$(find ccf_immersive_sorting)/config/settings.yaml" ns="$(arg node_namespace)" />
<rosparam command="load" file="$(find ccf_immersive_sorting)/config/tags.yaml" ns="$(arg node_namespace)" />
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="log">
<param name="video_device" value="/dev/video2" />
<param name="image_width" value="2560" />
<param name="image_height" value="1440" />
<param name="autofocus" value="0" />
</node>
<node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam"/>
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" >
<!-- Remap topics from those used in code to those on the ROS network -->
<remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
<remap from="camera_info" to="$(arg camera_name)/camera_info" />
<param name="publish_tag_detections_image" type="bool" value="true" /> <!-- default: false -->
</node>
</launch> </launch>
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty.json"/>
</node>
</launch>
<launch>
<arg name="launch_prefix" default="" /> <!-- set to value="gdbserver localhost:10000" for remote debugging -->
<arg name="node_namespace" default="apriltag_ros_continuous_node" />
<arg name="camera_name" default="/usb_cam" />
<arg name="image_topic" default="image_rect" />
<!-- Set parameters -->
<rosparam command="load" file="$(find ccf_immersive_sorting)/config/settings.yaml" ns="$(arg node_namespace)" />
<rosparam command="load" file="$(find ccf_immersive_sorting)/config/tags.yaml" ns="$(arg node_namespace)" />
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="log">
<param name="video_device" value="/dev/video2" />
<param name="image_width" value="2560" />
<param name="image_height" value="1440" />
<param name="autofocus" value="1" />
<param name="pixel_format" value="mjpeg"/>
<param name="framerate" value="4"/>
</node>
<node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam"/>
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" >
<!-- Remap topics from those used in code to those on the ROS network -->
<remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
<remap from="camera_info" to="$(arg camera_name)/camera_info" />
<param name="publish_tag_detections_image" type="bool" value="true" /> <!-- default: false -->
</node>
<!-- <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator"/>-->
</launch>
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