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Updated apriltags2_ros to new apriltag_ros package

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matlabbe
2019-06-20 15:24:09 -04:00
parent 48bcda84ab
commit 2ab15ec3b9
4 changed files with 20 additions and 20 deletions
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launch/tests/test_apriltags2.launch → launch/tests/test_apriltag_ros.launch
+5 -5
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@@ -1,11 +1,11 @@
<launch>
<!-- Print on the file tag_bundle1.png (with GIMP: set size in Image Settings to 160x240mm) -->
<!-- Definition of the tag bundle is tags.yaml, make sure the camera is calibrated or adjust the size of the tag if needed -->
<!-- The TF published by apriltags_ros should match the point cloud created by the camera -->
<!-- The TF published by apriltag_ros should match the point cloud created by the camera -->
<!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and tag_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) -->
<!-- $ roslaunch realsense2_camera rs_camera.launch align_depth:=true -->
<!-- $ roslaunch rtabmap_ros test_apriltags2.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info -->
<!-- $ roslaunch rtabmap_ros test_apriltag_ros.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info -->
<!-- $ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true rtabmapviz:=false args:="-d -Optimizer/Strategy 1" tag_angular_variance:=9999 -->
<arg name="camera_frame_id" default="camera_color_optical_frame"/>
@@ -13,10 +13,10 @@
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<!-- Set parameters -->
<rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tag_settings.yaml" ns="apriltags2_ros_continuous_node" />
<rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tags.yaml" ns="apriltags2_ros_continuous_node" />
<rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tag_settings.yaml" ns="apriltag_ros_continuous_node" />
<rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tags.yaml" ns="apriltag_ros_continuous_node" />
<node pkg="apriltags2_ros" type="apriltags2_ros_continuous_node" name="apriltags2_ros_continuous_node" clear_params="true" output="screen">
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen">
<remap from="image_rect" to="$(arg rgb_topic)" />
<remap from="camera_info" to="$(arg camera_info_topic)" />