zhuanzai

zhch_pan

加快apriltag追踪速度的launch文件

 1 <launch>
 2   <node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen">
 3   <param name="width" type="int" value="640" />
 4     <param name="height" type="int" value="480" />
 5     <param name="format" value="jpeg" />
 6     <param name="fps" type="int" value="60" />
 7     <param name="frame" type="string" value="webcam" />
 8     <param name="device" type="string" value="/dev/video1" />
 9     <param name="camera_info_url" type="string" value="file://$(find uvc_apriltags_test)/example.yaml" />
10     <remap from="/camera/camera_info" to="/camera_info"/>
11     <!--remap from="/camera/image_raw" to="/image_rect"/-->
12   </node>
13   <node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/camera/image_raw raw out:=/image_rect" />
14   <node  pkg="apriltags_ros" type="apriltag_detector_node" name="apriltag_detector">
15     <rosparam param="tag_descriptions">[
16       {id: 0, size: 0.528000},
17       {id: 1, size: 0.528000, frame_id: mrobo1},
18       {id: 32, size: 0.034000}]
19     </rosparam>
20   </node>
21 
22   <node  pkg="uvc_apriltags_test" type="result_subscriber" name="result_apriltag_detector" output="screen" />
23   <node  pkg="track_tag" type="track_tag" name="track_tag" output="screen" />
24   <!--node  pkg="rviz" type="rviz" name="rviz_view" args="-d $(find uvc_apriltags_test)/launch/rvizview.rviz" /-->
25  
26 </launch>