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MarkDetection.launch
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MarkDetection.launch
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<launch>
<!--This launch file is created by Ke and Shutong for mark detection-->
<!--turtlebot_bringup minimal.launch: to start the base of the turtlebot-->
<!--Have to load this file for bringing up the turtlebot-->
<!-- Turtlebot -->
<arg name="base" default="$(env TURTLEBOT_BASE)" doc="mobile base type [create, roomba]"/>
<arg name="battery" default="$(env TURTLEBOT_BATTERY)" doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
<arg name="stacks" default="$(env TURTLEBOT_STACKS)" doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)" doc="3d sensor types [kinect, asux_xtion_pro]"/>
<arg name="simulation" default="$(env TURTLEBOT_SIMULATION)" doc="set flags to indicate this turtle is run in simulation mode."/>
<arg name="serialport" default="$(env TURTLEBOT_SERIAL_PORT)" doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
<param name="/use_sim_time" value="$(arg simulation)"/>
<include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="serialport" value="$(arg serialport)" />
</include>
<include unless="$(eval arg('battery') == 'None')" file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
<arg name="battery" value="$(arg battery)" />
</include>
<!--turtlebot_naviation amcl_demo.launch: to load the map-->
<!-- 3D sensor -->
<!--arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/--> <!-- r200, kinect, asus_xtion_pro -->
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg name="rgb_processing" value="false" />
<arg name="depth_registration" value="false" />
<arg name="depth_processing" value="false" />
<!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 -->
<arg name="scan_topic" value="/scan" />
</include>
<!-- Map server -->
<arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!-- AMCL -->
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/>
<arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
<arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
<arg name="initial_pose_a" default="0.0"/>
<include file="$(arg custom_amcl_launch_file)">
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>
<!-- Move base -->
<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
<arg name="custom_param_file" value="$(arg custom_param_file)"/>
</include>
<!--ArucoMark Detection by using the node called test_cpp in aruco_ros created by Ke and Shutong based on the node called marker_publish.cpp-->
<arg name="markerSize" default="0.05"/> <!-- in m -->
<arg name="side" default="left"/>
<arg name="ref_frame" default="base"/> <!-- leave empty and the pose will be published wrt param parent_name -->
<node pkg="aruco_ros" type="test_cpp" name="test1">
<remap from="/camera_info" to="/camera/rgb/camera_info" />
<remap from="/image" to="/camera/rgb/image_raw" />
<!--remap from="/camera_info" to="/cameras/$(arg side)_hand_camera/camera_info" /-->
<!--remap from="/image" to="/cameras/$(arg side)_hand_camera/image" /-->
<param name="image_is_rectified" value="True"/>
<param name="marker_size" value="$(arg markerSize)"/>
<param name="reference_frame" value="$(arg ref_frame)"/> <!-- frame in which the marker pose will be refered -->
<param name="camera_frame" value="$(arg side)_hand_camera"/>
</node>
<!--image_view-->
<node pkg="image_view" type="image_view" name="image_show">
<remap from="image" to="/test1/result" />
</node>
</launch>