forked from pryre/marker_localization
/
marker_detect.launch
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/
marker_detect.launch
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<?xml version='1.0'?>
<launch>
<arg name="image_topic" default="/webcam/image_raw"/>
<arg name="camera_info_topic" default="/webcam/camera_info"/>
<node pkg="ml_detector" type="ml_detector_node" name="ml_detector" clear_params="true" output="screen">
<!-- System Parameters -->
<param name="system/publish_overlay" value="true" type="boolean"/>
<param name="system/send_detailed_tag_info" value="true" type="boolean"/>
<param name="system/show_rejected" value="false" type="boolean"/>
<param name="system/refine_strategy" value="true" type="boolean"/>
<param name="system/camera_is_rectified" value="false" type="boolean"/>
<!-- Detection Parameters /-->
<rosparam command="load" file="$(find ml_detector)/launch/detect_config.yaml"/>
<rosparam command="load" file="$(find ml_detector)/launch/board_config.yaml"/>
<!-- Marker Parameters -->
<remap from="~detected_markers" to="/ml_landmarks/detected_markers"/>
<!-- Image Parameters -->
<remap from="~camera_info" to="$(arg camera_info_topic)"/>
<remap from="~image_raw" to="$(arg image_topic)"/>
</node>
</launch>