From 98157bbabde622cc3a261545314dbaf4b676727a Mon Sep 17 00:00:00 2001
From: Chao Qu <quchao@seas.upenn.edu>
Date: Thu, 2 Oct 2014 19:54:40 -0400
Subject: [PATCH] update launch files

---
 ...calib_flir_gige.yml => calib_flir_ax5.yml} |  4 ++--
 launch/node.launch                            | 21 +++++++++++--------
 launch/nodelet.launch                         | 18 +++++++++-------
 launch/thermal_proc.launch                    |  7 +++----
 4 files changed, 28 insertions(+), 22 deletions(-)
 rename calib/{calib_flir_gige.yml => calib_flir_ax5.yml} (88%)

diff --git a/calib/calib_flir_gige.yml b/calib/calib_flir_ax5.yml
similarity index 88%
rename from calib/calib_flir_gige.yml
rename to calib/calib_flir_ax5.yml
index 5d21c39..9541425 100644
--- a/calib/calib_flir_gige.yml
+++ b/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]
\ No newline at end of file
+  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
index a640b3d..a64e51f 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -1,16 +1,19 @@
 <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"/>
@@ -18,10 +21,10 @@
 
     <!-- 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="$(arg raw)"/>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 004c536..68728ac 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -1,11 +1,15 @@
 <launch>
+    <!-- Common Interface -->
+    <arg name="device" default="192.168.1.11"/>
+    <arg name="rate" default="20"/>
+
     <!-- Camera Settings -->
-    <arg name="ip_address" default="192.168.1.11"/>
-    <arg name="frame_id" default="flir_gige"/>
-    <arg name="camera" default="flir_gige"/>
-    <arg name="calib_url"
-        default="package://flir_gige/calib/calib_$(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
index c69d5a8..46d39c7 100644
--- a/launch/thermal_proc.launch
+++ b/launch/thermal_proc.launch
@@ -1,8 +1,8 @@
 <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"/>
 
@@ -10,8 +10,7 @@
     <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 -->