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- <launch>
- <node pkg="rviz" type="rviz" name="rviz"
- args="-d $(find ar_pose)/launch/live_single.rviz"/>
- <node pkg="tf" type="static_transform_publisher" name="world_to_cam"
- args="0 0 0.5 -1.57 0 -1.57 world camera 10" />
- <node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>
- <node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"
- output="screen">
- <param name="width" type="int" value="320" />
- <param name="height" type="int" value="240" />
- <param name="fps" type="int" value="30" />
- <param name="frame" type="string" value="camera" />
- <param name="device" type="string" value="/dev/video0" />
- <param name="camera_info_url" type="string"
- value="file://$(find uvc_camera)/camera_calibration.yaml" />
- </node>
- <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false"
- output="screen">
- <param name="marker_pattern" type="string"
- value="$(find ar_pose)/data/4x4/4x4_1.patt"/>
- <param name="marker_width" type="double" value="152.4"/>
- <param name="marker_center_x" type="double" value="0.0"/>
- <param name="marker_center_y" type="double" value="0.0"/>
- <param name="threshold" type="int" value="100"/>
- <param name="use_history" type="bool" value="true"/>
- </node>
- </launch>
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