AntoineH/BaxterInterface
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Unknown 2018-08-13 12:24:33 +02:00
parent 5ea3bd93c8
commit 97b12ef01e
43 changed files with 9 additions and 301 deletions
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rviz_interface/rviz_interface/launch/interface_matching.launch
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<launch>
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<!--Objects/-->
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
<!--Topics/-->
<param name="objective_topic" value="/RvizInterface/state_objective"/>
<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
<param name="config_topic" value="/RvizInterface/interface_config"/>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
<!--Matcher/-->
<!--Matcher Parameters/-->
<param name="tracked_object" value="Foo"/>
<param name="num_tilt" type="int" value="8"/>
<param name="std_dev_filter_coeff" type="double" value="2"/>
<!--Matcher References/-->
<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<rosparam param="reference_data">[
"train_image_000.png",
"train_image_001.png"]
</rosparam>
<!--Topics/-->
<param name="object_center_topic" value="/object_center"/>
<param name="image_topic" value="/camera/rgb/image_raw"/>
<param name="pointcloud_topic" value="/camera/depth_registered/points"/>
<node name="ASIFT_matching" pkg="asift_matching" type="ASIFT_matcher" output="screen"/>
</launch>