36 lines
1.4 KiB
XML
36 lines
1.4 KiB
XML
<launch>
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<node name="rviz" pkg="rviz" type="rviz"/>
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<!--Interface/-->
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<!--Objects/-->
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<param name="frame_id" value="/camera_rgb_optical_frame"/>
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<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
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<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
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<!--Topics/-->
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<param name="objective_topic" value="/RvizInterface/state_objective"/>
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<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
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<param name="config_topic" value="/RvizInterface/interface_config"/>
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<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
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<!--Matcher/-->
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<!--Matcher Parameters/-->
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<param name="tracked_object" value="Foo"/>
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<param name="num_tilt" type="int" value="8"/>
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<param name="std_dev_filter_coeff" type="double" value="2"/>
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<!--Matcher References/-->
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<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
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<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
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<rosparam param="reference_data">[
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"train_image_000.png",
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"train_image_001.png"]
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</rosparam>
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<!--Topics/-->
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<param name="object_center_topic" value="/object_center"/>
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<param name="image_topic" value="/camera/rgb/image_raw"/>
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<param name="pointcloud_topic" value="/camera/depth_registered/points"/>
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<node name="ASIFT_matching" pkg="asift_matching" type="ASIFT_matcher" output="screen"/>
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</launch>
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