revvy-pi-linefollow-cnn.launch

<?xml version="1.0"?>
<launch>

  <arg name="ticks_per_meter" value="1800" />
  <arg name="wheel_separation" value="0.11" />
  <arg name="wheel_separation_length" value="0.13" />
    
  <node name="controller" pkg="diff_drive" type="diff_drive_controller"
        output="screen">
    <rosparam subst_value="true">
      ticks_per_meter: $(arg ticks_per_meter)
      wheel_separation: $(arg wheel_separation)
      wheel_separation_length: $(arg wheel_separation_length)
      max_motor_speed: 3000
      timeout: 1.0
    </rosparam>
  </node>

  <node pkg="hector_pseye_camera" type="pseye_camera_node" name="main_camera" output="screen">
    <param name="camera_topic" value="ps_eye1/image_raw" />
    <param name="camera_info_url" value="package://hector_pseye_camera/config/ps_eye.ini"/>
    <param name="dev" value="/dev/video0"/>
    <param name="frame_name" value="camera_optical_frame"/>
    <param name="use_every_n_th_image" value="1"/>
    <param name="width" value="320"/>
    <param name="height" value="240"/>
    <param name="fps" value="15"/>
  </node>
  
  <node name="revvyNode" pkg="revvyframework_ros" type="revvy.py" output="screen">
  </node>

  <node pkg="line_follower" type="line_detector_cnn_pi.py" name="line_detector" clear_params="true" output="screen"> 
  </node>
  
  <node pkg="line_follower" type="line_controller_cnn_pi.py" name="line_controller" clear_params="true" output="screen"> 
  </node>


</launch>