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launch files updated no 2
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Tim Lakemann committed Apr 20, 2024
1 parent bbfc2b0 commit 3a8df8c
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Showing 2 changed files with 24 additions and 11 deletions.
34 changes: 23 additions & 11 deletions launch/rw_three_sided.launch
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
<arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg uav_name)_uvdar_nodelet_manager"/>
<arg if="$(arg standalone)" name="nodelet_manager" value=""/>

<arg name="threshold" default="50"/>

<arg name="left" default="$(optenv BLUEFOX_UV_LEFT)"/>
<arg name="right" default="$(optenv BLUEFOX_UV_RIGHT)"/>
Expand Down Expand Up @@ -37,7 +36,15 @@
<arg name="mm" default="0"/>
<arg name="jpeg_quality" default="90"/>

<!-- Point detector settings: -->
<arg name="threshold" default="50"/>

<!-- Blink processor settings: -->
<arg name="blink_process_rate" default="10"/>

<!--AMI values-->
<arg name="pub_tracking_stats" default="false"/>
<arg name="draw_predict_window_sec" default="0.0"/>
<arg name="max_px_shift_y" default="3"/>
<arg name="max_px_shift_x" default="3"/>
<arg name="max_zeros_consecutive" default="10"/>
Expand All @@ -48,6 +55,8 @@
<arg name="confidence_probability" default="95.0"/>
<arg name="allowed_BER_per_seq" default="0"/>

<!--4DHT values-->
<arg name="use_4DHT" default="false"/>
<arg name="accumulator_length" default="14"/>
<arg name="pitch_steps" default="16"/>
<arg name="yaw_steps" default="16"/>
Expand Down Expand Up @@ -275,6 +284,10 @@

<param name="blink_process_rate" type="int" value="$(arg blink_process_rate)"/>

<param name="pub_tracking_stats" type="bool" value="$(arg pub_tracking_stats)"/>
<param name="draw_predict_window_sec" type="double" value="$(arg draw_predict_window_sec)"/>
<param name="use_4DHT" type="bool" value="$(arg use_4DHT)"/>

<param name="max_px_shift_x" type="int" value="$(arg max_px_shift_x)"/>
<param name="max_px_shift_y" type="int" value="$(arg max_px_shift_y)"/>
<param name="max_zeros_consecutive" type="int" value="$(arg max_zeros_consecutive)"/>
Expand All @@ -296,8 +309,8 @@
<rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] </rosparam>
<rosparam param="estimated_framerate_topics"> ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] </rosparam>

<rosparam param="omta_logging_topics"> ["omta_logging_left", "omta_logging_right", "omta_logging_back"] </rosparam>
<rosparam param="omta_all_seq_info_topics"> ["omta_all_seq_info_left", "omta_all_seq_info_right", "omta_all_seq_info_back"] </rosparam>
<rosparam param="ami_logging_topics"> ["ami_logging_left", "ami_logging_right", "ami_logging_back"] </rosparam>
<rosparam param="ami_all_seq_info_topics"> ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] </rosparam>

<remap from="~camera_left" to="/$(arg uav_name)/uvdar_bluefox/left/image_raw"/>
<remap from="~camera_right" to="/$(arg uav_name)/uvdar_bluefox/right/image_raw"/>
Expand All @@ -312,14 +325,13 @@
<remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/>
<remap from="~estimated_framerate_back" to="/$(arg uav_name)/uvdar/estimated_framerate_back"/>
<!-- <remap from="~visualization" to="/$(arg uav_name)/uvdar/blink_visualization/image_raw"/> -->

<remap from="~omta_logging_left" to="/$(arg uav_name)/uvdar/omta_logging_left"/>
<remap from="~omta_logging_right" to="/$(arg uav_name)/uvdar/omta_logging_right"/>
<remap from="~omta_logging_back" to="/$(arg uav_name)/uvdar/omta_logging_back"/>

<remap from="~omta_all_seq_info_left" to="/$(arg uav_name)/uvdar/omta_all_seq_info_left"/>
<remap from="~omta_all_seq_info_right" to="/$(arg uav_name)/uvdar/omta_all_seq_info_right"/>
<remap from="~omta_all_seq_info_back" to="/$(arg uav_name)/uvdar/omta_all_seq_info_back"/>

<remap from="~ami_logging_left" to="/$(arg uav_name)/uvdar/ami_logging_left"/>
<remap from="~ami_logging_right" to="/$(arg uav_name)/uvdar/ami_logging_right"/>
<remap from="~ami_logging_back" to="/$(arg uav_name)/uvdar/ami_logging_back"/>
<remap from="~ami_all_seq_info_left" to="/$(arg uav_name)/uvdar/ami_all_seq_info_left"/>
<remap from="~ami_all_seq_info_right" to="/$(arg uav_name)/uvdar/ami_all_seq_info_right"/>
<remap from="~ami_all_seq_info_back" to="/$(arg uav_name)/uvdar/ami_all_seq_info_back"/>
</node>

<node name="throttle_blinkers_left" type="throttle" pkg="topic_tools"
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1 change: 1 addition & 0 deletions launch/rw_three_sided_basler.launch
Original file line number Diff line number Diff line change
Expand Up @@ -246,6 +246,7 @@
<rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right", "points_seen_back"] </rosparam>
<rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] </rosparam>
<rosparam param="estimated_framerate_topics"> ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] </rosparam>

<rosparam param="ami_logging_topics"> ["ami_logging_left", "ami_logging_right", "ami_logging_back"] </rosparam>
<rosparam param="ami_all_seq_info_topics"> ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] </rosparam>

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