WIP #10 Created test servo launch file

vanderbiltrobotics · Feb 27, 2019 · a502fb5 · a502fb5
1 parent 1ad2814
commit a502fb5
Showing 1 changed file with 23 additions and 0 deletions.
diff --git a/robot_slam/launch/test_servo_cam.launch b/robot_slam/launch/test_servo_cam.launch
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+<launch>
+
+    <!-- Parameters to define Aruco Board length & separation values -->
+    <param name="board_x_markers" type="int" value="5"/>
+    <param name="board_y_markers" type="int" value="7"/>
+    <param name="board_marker_length" type="double" value=".029"/>
+    <param name="board_marker_separation" type="double" value=".006"/>
+
+    <!-- parameters for image_publisher node -->
+    <param name="device_id" value="0"/>
+    <param name="calibration_file" value="camera_a.yaml"/>
+    <param name="publish_rate" value="20"/>
+    <param name="image_width" value="640"/>
+    <param name="image_height" value="480"/>
+
+    <!-- Run all the nodes required for the ekf test -->
+    <node name="image_publisher" pkg="robot_sensors" type="image_publisher.py"/> 
+    <node name="aruco" pkg="robot_slam" type="aruco_localization.py"/>
+
+    <!-- Launch the rqt_console to view the log info printed at the end of the test -->
+    <node name="rqt_console" pkg="rqt_console" type="rqt_console"/>
+
+</launch>