update launch files

SymmetryLabs · Oct 2, 2014 · 98157bb · 98157bb
1 parent eec7b53
commit 98157bb
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Showing 4 changed files with 28 additions and 22 deletions.
diff --git a/calib/calib_flir_gige.yml → calib/calib_flir_ax5.yml b/calib/calib_flir_gige.yml → calib/calib_flir_ax5.yml
@@ -1,6 +1,6 @@
 image_width: 320
 image_height: 256
-camera_name: flir_gige
+camera_name: flir_ax5
 camera_matrix:
   rows: 3
   cols: 3
@@ -17,4 +17,4 @@ rectification_matrix:
 projection_matrix:
   rows: 3
   cols: 4
-  data: [341.0677795410156, 0, 151.2476567559443, 0, 0, 355.1935729980469, 135.8747393661461, 0, 0, 0, 1, 0]
+  data: [341.0677795410156, 0, 151.2476567559443, 0, 0, 355.1935729980469, 135.8747393661461, 0, 0, 0, 1, 0]
diff --git a/launch/node.launch b/launch/node.launch
@@ -1,27 +1,30 @@
 <launch>
+    <!-- Common Interface -->
+    <arg name="device" default="192.168.1.11"/>
+    <arg name="rate" default="20"/>
+
     <!-- Camera Settings -->
-    <arg name="ip_address" default="192.168.1.11"/>
-    <arg name="frame_id" default="flir_gige"/>
-    <arg name="camera" default="flir_gige"/>
-    <arg name="calib_url"
-        default="package://flir_gige/calib/calib_$(arg camera).yml"/>
-    <arg name="fps" default="20.0"/>
+    <arg name="ip_address" default="$(arg device)"/>
+    <arg name="camera_name" default="flir_ax5"/>
+    <arg name="camera" default="thermal"/>
+    <arg name="frame_id" default="$(arg camera)"/>
+    <arg name="calib_url" default="package://flir_gige/calib/calib_$(arg camera).yml"/>
+    <arg name="fps" default="$(arg rate)"/>
     <arg name="raw" default="false"/>
 
     <!-- Node Settings -->
     <arg name="output" default="screen"/>
-    <arg name="respawn" default="false"/>
     <arg name="view" default="false"/>
     <arg name="calib" default="false"/>
     <arg name="calib_proc" default="false"/>
     <arg name="thermal_proc" default="false"/>
 
     <!-- Node -->
     <node pkg="flir_gige" type="flir_gige_node" name="$(arg camera)"
-        respawn="$(arg respawn)" output="$(arg output)">
+        output="$(arg output)">
         <param name="identifier" type="string" value="$(arg ip_address)"/>
+        <param name="camera_name" type="string" value="$(arg camera_name)"/>
         <param name="frame_id" type="string" value="$(arg frame_id)"/>
-        <param name="camera" type="string" value="$(arg camera)"/>
         <param name="calib_url" type="string" value="$(arg calib_url)"/>
         <param name="fps" type="double" value="$(arg fps)"/>
         <param name="raw" type="bool" value="$(arg raw)"/>

diff --git a/launch/nodelet.launch b/launch/nodelet.launch
@@ -1,11 +1,15 @@
 <launch>
+    <!-- Common Interface -->
+    <arg name="device" default="192.168.1.11"/>
+    <arg name="rate" default="20"/>
+
     <!-- Camera Settings -->
-    <arg name="ip_address" default="192.168.1.11"/>
-    <arg name="frame_id" default="flir_gige"/>
-    <arg name="camera" default="flir_gige"/>
-    <arg name="calib_url"
-        default="package://flir_gige/calib/calib_$(arg camera).yml"/>
-    <arg name="fps" default="20.0"/>
+    <arg name="ip_address" default="$(arg device)"/>
+    <arg name="camera_name" default="flir_ax5"/>
+    <arg name="camera" default="thermal"/>
+    <arg name="frame_id" default="$(arg camera)"/>
+    <arg name="calib_url" default="package://flir_gige/calib/calib_$(arg camera).yml"/>
+    <arg name="fps" default="$(arg rate)"/>
     <arg name="raw" default="false"/>
 
     <!-- Node Settings -->
@@ -33,8 +37,8 @@
     <node pkg="nodelet" type="nodelet" name="$(arg camera)"
         output="$(arg output)" args="$(arg option)">
         <param name="identifier" type="string" value="$(arg ip_address)"/>
+        <param name="camera_name" type="string" value="$(arg camera_name)"/>
         <param name="frame_id" type="string" value="$(arg frame_id)"/>
-        <param name="camera" type="string" value="$(arg camera)"/>
         <param name="calib_url" type="string" value="$(arg calib_url)"/>
         <param name="fps" type="double" value="$(arg fps)"/>
         <param name="raw" type="bool" value="$(arg raw)"/>

diff --git a/launch/thermal_proc.launch b/launch/thermal_proc.launch
@@ -1,17 +1,16 @@
 <launch>
     <!--Node Settings-->
-    <arg name="camera" default="flir_gige"/>
+    <arg name="camera" default="thermal"/>
     <arg name="test" default="false"/>
-    <arg name="bag" default="/media/chao/Seagate/bag/pennstate/scab/2014-09-05-13-47-08.bag"/>
+    <arg name="bag"/>
     <arg name="output" default="screen"/>
     <arg name="view" default="false"/>
 
     <arg name="celsius_min" default="10"/>
     <arg name="celsius_max" default="30"/>
 
     <!--Bagfile-->
-    <node if="$(arg test)" pkg="rosbag" type="play" name="player"
-        args="$(arg bag)">
+    <node if="$(arg test)" pkg="rosbag" type="play" name="player" args="$(arg bag)">
     </node>
 
     <!-- Thermal Proc -->