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Ajout d'options au launch file (Interface Rviz)

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Unknown 2018-08-03 15:27:30 +02:00
parent ced3ccd8cd
commit f4e33539ee
6 changed files with 85 additions and 11 deletions
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21
rviz_interface/rviz_interface/launch/interface_matching.launch
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@ -1,5 +1,24 @@
<launch>
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<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"/>
<!--node name="ASIFT_matching" pkg="asift_matching" type="ASIFT_matcher"/-->
<!--Matcher/-->
<param name="tracked_object" value="Foo"/>
<param name="num_tilt" type="int" value="8"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<!--rosparam param="reference_data">[
"$(find asift_matching)/reference_data/train_image_000.png",
"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
<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>