Commit 2c03c89e authored by Robert Haschke's avatar Robert Haschke
Browse files

Rectification as nodelet

parent 613094e5
......@@ -16,7 +16,14 @@
<!-- Launch nodelet manager -->
<node name="$(arg manager_name)" pkg="nodelet" type="nodelet" args="manager" output="screen" />
<!-- <load nodelets -->
<!-- Image rectification via nodelets -->
<include file="$(find image_proc)/launch/image_proc.launch" ns="/camhs4">
<arg name="manager" value="/aruco_tracking/$(arg manager_name)" />
</include>
<include file="$(find image_proc)/launch/image_proc.launch" ns="/camhs6">
<arg name="manager" value="/aruco_tracking/$(arg manager_name)" />
</include>
<!-- Load nodelets -->
<node name="camhs4" pkg="nodelet" type="nodelet" args="load aruco_tracking/Nodelet $(arg manager_name)" output="screen">
<rosparam file="$(find aruco_tracking)/config/aruco_tracking_params_camhs4.yaml" command="load" />
</node>
......@@ -26,7 +33,5 @@
<node name="tracking" pkg="aruco_tracking" type="track_boards.py" output="screen" />
</group>
<node name="image_proc_hs4" pkg="image_proc" type="image_proc" ns="camhs4"/>
<node name="image_proc_hs6" pkg="image_proc" type="image_proc" ns="camhs6"/>
</launch>
\ No newline at end of file
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