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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,33 +1,18 @@ | ||
| <launch> | ||
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| <arg name="name" default="whycon"/> | ||
| <arg name="targets" default="1"/> | ||
| <!-- DO NOT CHANGE THE FOLLOWING TWO VALUES --> | ||
| <arg name="outer_diameter" default=".55"/> | ||
| <arg name="inner_diameter" default=".20"/> | ||
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| <arg name="node_start_delay" default="10.0" /> | ||
| <arg name="duration" default="60"/> | ||
| <arg name="rec_name" default="controller.bag"/> | ||
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| <include file="$(find sentinel_drone)/launch/usb_cam_SD.launch" /> | ||
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| <node name="whycon" type="whycon" pkg="whycon" output="screen"> | ||
| <param name="targets" value="$(arg targets)"/> | ||
| <param name="name" value="$(arg name)"/> | ||
| <param name="outer_diameter" value="$(arg outer_diameter)"/> | ||
| <param name="inner_diameter" value="$(arg inner_diameter)"/> | ||
| </node> | ||
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| <include file="$(find sentinel_drone)/launch/whycon.launch" /> | ||
| <include file="$(find sentinel_drone)/launch/usb_cam-test.launch" /> | ||
| <include file="$(find plotjuggler_ros)/launch/plotjuggler.launch" /> | ||
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| <node name="pid_tune" pkg="pid_tune" type="pid_tune_drone.py" /> | ||
| <node ns = "whycon_display" name="image_view" type="image_view" pkg="image_view" output="screen"> | ||
| <remap from="image" to="/whycon/image_out"/> | ||
| </node> | ||
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| <node name="rosbag_record_controller" pkg="rosbag" type="record" | ||
| args="record -O $(find sentinel_drone)/scripts/$(arg rec_name) --duration=$(arg duration) --chunksize=10 /whycon/poses" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "/> | ||
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| <node pkg="sentinel_drone" type="position_hold.py" name="position_hold" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "/> | ||
| <node pkg="sentinel_drone" type="controller.py" name="position_hold" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "/> | ||
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| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <launch> | ||
| <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > | ||
| <param name="video_device" value="/dev/video0" /> | ||
| <param name="image_width" value="1280" /> | ||
| <param name="image_height" value="720" /> | ||
| <param name="pixel_format" value="mjpeg" /> | ||
| <param name="camera_frame_id" value="usb_cam" /> | ||
| <param name="io_method" value="mmap"/> | ||
| <param name="framerate" value="60" /> | ||
| </node> | ||
| <!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> | ||
| <remap from="image" to="/usb_cam/image_raw"/> | ||
| <param name="autosize" value="true" /> | ||
| </node> --> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <launch> | ||
| <arg name="name" default="whycon"/> | ||
| <arg name="targets" default="1"/> | ||
| <arg name="outer_diameter" default="0.55"/> | ||
| <arg name="inner_diameter" default="0.20"/> | ||
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| <group ns="usb_cam"> | ||
| <node pkg="image_proc" type="image_proc" name="image_proc"/> | ||
| </group> | ||
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| <node name="whycon" type="whycon" pkg="whycon" output="screen"> | ||
| <param name="targets" value="$(arg targets)"/> | ||
| <param name="name" value="$(arg name)"/> | ||
| <param name="outer_diameter" value="$(arg outer_diameter)"/> | ||
| <param name="inner_diameter" value="$(arg inner_diameter)"/> | ||
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| <!-- Remap the topics to the corresponding topics --> | ||
| <remap from="/camera/camera_info" to="/usb_cam/camera_info"/> | ||
| <remap from="/camera/image_rect_color" to="/usb_cam/image_raw"/> | ||
| </node> | ||
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| <node name="transformer" type="transformer" pkg="whycon" output="screen"/> | ||
| </launch> | ||
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