ar_pose.launch

<launch>
	<group ns = "usb_cam">
	<node name="cam" pkg="uvc_camera" type="camera_node" output="screen">
		<param name="device" type="string" value="/dev/video0"/>
		<param name="camera_info_url" type="string" value="package://follow_the_leader/ar_pose_stuff/cal.yml"/>
		<param name="width" type="int" value="640"/>
		<param name="height" type="int" value="480"/>
		<!--param name="fps" type="int" value="25"/-->
	</node>
	</group>
	<node pkg="tf" type="static_transform_publisher" name="cam_wc_tf"
	args="-0.17 -0.24 1.23 0.2 0 0 /base_link /camera 100" />

	<node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" output="screen">
		<param name="marker_pattern" type="string" value="$(find follow_the_leader)/ar_pose_stuff/gds_ar.patt"/>
		<param name="marker_width" type="double" value="168.0"/>
		<param name="marker_center_x" type="double" value="0.0"/>
		<param name="marker_center_y" type="double" value="0.0"/>
		<param name="publish_tf" type="bool" value="false"/>
		<param name="publish_visual_markers" type="bool" value="false"/>
	</node>
	<node pkg="follow_the_leader" type="ar_companion" name="ar_republisher" output="screen"/>
</launch>