From d967675f9d3dca2bbad0dfcd372a850d2b61b1ba Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 21 Feb 2023 15:32:07 +0100
Subject: [PATCH] improve tag detection speed and log settings
---
launch/object-localization/tag_detection.launch | 9 +++++----
1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/launch/object-localization/tag_detection.launch b/launch/object-localization/tag_detection.launch
index f1eebe7..859cf43 100644
--- a/launch/object-localization/tag_detection.launch
+++ b/launch/object-localization/tag_detection.launch
@@ -15,7 +15,7 @@
<param name="image_height" value="1440"/>
<param name="autofocus" value="1"/>
<param name="pixel_format" value="mjpeg"/>
- <param name="framerate" value="1"/>
+ <param name="framerate" value="5"/>
<param name="autofocus" value="true"/>
</node>
@@ -23,13 +23,14 @@
<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)" respawn="true">
+ output="log" 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"/>
+ <param name="queue_size" type="int" value="1" />
- <param name="publish_tag_detections_image" type="bool" value="true"/> <!-- default: false -->
+ <param name="publish_tag_detections_image" type="bool" value="false"/> <!-- default: false -->
</node>
- <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator" respawn="true"/>
+ <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator" respawn="true" output="screen"/>
</launch>
--
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