improve tag detection launch file

launch/object-localization/tag_detection.launch

@@ -9,19 +9,20 @@
   <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">
+  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="log" respawn="true" respawn_delay="3">
     <param name="video_device" value="$(arg device)" />
     <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"/>
+    <param name="framerate" value="1"/>
+    <param name="autofocus" value="true"/>
   </node>
 
 
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam"/>
+  <node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam" respawn="true"/>
  
-  <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" >
+  <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" respawn="true" >
     <!-- 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" />
@@ -29,5 +30,5 @@
     <param name="publish_tag_detections_image" type="bool" value="true" />      <!-- default: false -->
   </node>
 
-<!--  <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator"/>-->
+  <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator" respawn="true"/>
 </launch>