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Adding back the basler launcher and fixing the model selected in the …
…default rw launcher
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,318 @@ | ||
| <launch> | ||
| <arg name="uav_name" default="$(env UAV_NAME)"/> | ||
| <arg name="mrs_id" default="$(env MRS_ID)"/> | ||
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| <arg name="standalone" default="false"/> | ||
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| <arg unless="$(arg standalone)" name="nodelet" value="load"/> | ||
| <arg if="$(arg standalone)" name="nodelet" value="standalone"/> | ||
| <arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg uav_name)_uvdar_nodelet_manager"/> | ||
| <arg if="$(arg standalone)" name="nodelet_manager" value=""/> | ||
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| <arg name="debug" default="false"/> | ||
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| <!-- Basler camera settings: --> | ||
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| <arg name="BASLER_LEFT_ID" default="$(env BASLER_UV_LEFT)" /> | ||
| <arg name="BASLER_RIGHT_ID" default="$(env BASLER_UV_RIGHT)" /> | ||
| <arg name="BASLER_BACK_ID" default="$(env BASLER_UV_BACK)" /> | ||
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| <arg name="camera_name_left" default="basler_left" /> | ||
| <arg name="camera_name_right" default="basler_right" /> | ||
| <arg name="camera_name_back" default="basler_back" /> | ||
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| <arg name="expose_us_left" default="$(env BASLER_UV_LEFT_EXPOSE_US)"/> | ||
| <arg name="expose_us_right" default="$(env BASLER_UV_RIGHT_EXPOSE_US)"/> | ||
| <arg name="expose_us_back" default="$(env BASLER_UV_BACK_EXPOSE_US)"/> | ||
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| <arg name="camera_config_file" default="$(find uvdar_core)/config/camera_config/basler_grayscale.yaml" /> | ||
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| <arg name="calibrations_folder" default="$(find mrs_uav_deployment)/config/uvdar_calibrations"/> | ||
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| <arg name="FRAME_RATE" default="120" /> | ||
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| <!-- Point detector settings: --> | ||
| <arg name="threshold" default="50"/> | ||
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| <!-- Blink processor settings: --> | ||
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| <arg name="blink_process_rate" default="10"/> | ||
|
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| <!--AMI values--> | ||
| <arg name="max_px_shift_y" default="3"/> | ||
| <arg name="max_px_shift_x" default="3"/> | ||
| <arg name="max_zeros_consecutive" default="2"/> | ||
| <arg name="max_ones_consecutive" default="2"/> | ||
| <arg name="stored_seq_len_factor" default="1"/> | ||
| <arg name="max_buffer_length" default="5000"/> | ||
| <arg name="poly_order" default="2"/> | ||
| <arg name="decay_factor" default="0.1"/> | ||
| <arg name="confidence_probability" default="95.0"/> | ||
| <arg name="allowed_BER_per_seq" default="0"/> | ||
|
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| <arg name="use_4DHT" default="false"/> | ||
| <!--4DHT values--> | ||
| <arg name="accumulator_length" default="18"/> | ||
| <arg name="pitch_steps" default="16"/> | ||
| <arg name="yaw_steps" default="16"/> | ||
| <arg name="max_pixel_shift" default="4"/> | ||
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| <arg name="visual_debug" default="false"/> | ||
| <!-- <arg name="gui" default="true"/> --> | ||
| <arg name="gui" default="false"/> | ||
| <arg name="publish_visualization" default="true"/> | ||
| <arg name="visualization_rate" default="2"/> | ||
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| <arg name="id1" value="0"/> | ||
| <arg name="id2" value="1"/> | ||
| <arg name="id3" value="2"/> | ||
| <arg name="id4" value="3"/> | ||
| <arg name="id5" value="4"/> | ||
| <arg name="id6" value="5"/> | ||
| <arg name="id7" value="6"/> | ||
| <arg name="id8" value="7"/> | ||
| <arg name="id9" value="8"/> | ||
| <arg name="id10" value="9"/> | ||
| <arg name="id11" value="10"/> | ||
| <arg name="id12" value="11"/> | ||
| <arg name="id13" value="12"/> | ||
| <arg name="id14" value="13"/> | ||
| <arg name="id15" value="14"/> | ||
| <arg name="id16" value="15"/> | ||
| <arg name="id17" value="16"/> | ||
| <arg name="id18" value="17"/> | ||
| <arg name="id19" value="18"/> | ||
| <arg name="id20" value="19"/> | ||
| <arg name="id21" value="20"/> | ||
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| <arg name="sequence_file" default="$(find uvdar_core)/config/selected.txt"/> | ||
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| <!-- Params for Tim's BP_Processor--> | ||
| <arg name="max_px_shift_x" default="2"/> | ||
| <arg name="max_px_shift_y" default="2"/> | ||
| <arg name="max_zeros_consecutive" default="2"/> | ||
| <arg name="max_ones_consecutive" default="2"/> | ||
| <arg name="stored_seq_len_factor" default="15"/> | ||
| <arg name="poly_order" default="4"/> | ||
| <arg name="decay_factor" default="0.01"/> | ||
| <arg name="confidence_probability" default="95.0"/> | ||
| <arg name="frame_tolerance" default="5"/> | ||
| <arg name="allowed_BER_per_seq" default="0"/> | ||
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| <!-- Model settings: --> | ||
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| <arg name="use_masks" default="true"/> | ||
| <arg name="model_file" default="$(find uvdar_core)/config/models/quadrotor_foursided_px4_motor_aligned.txt"/> | ||
| <arg name="beacon" default="false"/> | ||
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| <arg name="blink_throttle_rate" default="10"/> | ||
|
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| <node | ||
| name="uvcam_left_tf_$(arg uav_name)" | ||
| pkg="tf2_ros" | ||
| type="static_transform_publisher" | ||
| args="0.03 0.10 0.06 -0.3490658504 0.0 -1.57079632679 $(arg uav_name)/fcu $(arg uav_name)/uvcam_left"/> | ||
|
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| <node | ||
| name="uvcam_right_tf_$(arg uav_name)" | ||
| pkg="tf2_ros" | ||
| type="static_transform_publisher" | ||
| args="0.03 -0.10 0.06 -2.792526803 0.0 -1.57079632679 $(arg uav_name)/fcu $(arg uav_name)/uvcam_right"/> | ||
|
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| <node | ||
| name="uvcam_back_tf_$(arg uav_name)" | ||
| pkg="tf2_ros" | ||
| type="static_transform_publisher" | ||
| args="-0.10 0.0 -0.02 0.0 1.57079632679 3.14159265 $(arg uav_name)/fcu $(arg uav_name)/uvcam_back"/> | ||
| <!-- ideal angle: 1.221730476 - pi/2 --> | ||
|
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| <!-- OR --> | ||
| <group ns="$(arg uav_name)"> | ||
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| <arg name="respawn" default="false" /> | ||
| <arg name="startup_user_set" default="CurrentSetting" /> | ||
| <arg name="enable_status_publisher" default="true" /> | ||
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| <arg name="nodelet_left" value="pylon_camera/PylonCameraNodelet" /> | ||
| <arg name="nodelet_load_left" value="load $(arg nodelet_left) $(arg nodelet_manager)"/> | ||
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| <arg name="nodelet_right" value="pylon_camera/PylonCameraNodelet" /> | ||
| <arg name="nodelet_load_right" value="load $(arg nodelet_right) $(arg nodelet_manager)"/> | ||
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| <arg name="nodelet_back" value="pylon_camera/PylonCameraNodelet" /> | ||
| <arg name="nodelet_load_back" value="load $(arg nodelet_back) $(arg nodelet_manager)"/> | ||
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| <!-- <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen" launch-prefix="debug_roslaunch"> --> | ||
| <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"> | ||
| <param name="num_worker_threads" value="10" /> | ||
| </node> | ||
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| <node pkg="nodelet" type="nodelet" name="$(arg camera_name_left)" args="$(arg nodelet_load_left)" output="screen" launch-prefix="bash -c 'sleep 5; $0 $@'; " respawn="$(arg respawn)" > | ||
| <rosparam command="load" file="$(arg camera_config_file)" /> | ||
| <param name="camera_frame" value="$(arg uav_name)/$(arg camera_name_left)_optical"/> | ||
| <param name="frame_rate" type="double" value="$(arg FRAME_RATE)"/> | ||
| <param name="device_user_id" type="string" value="$(arg BASLER_LEFT_ID)"/> | ||
| <param name="startup_user_set" value="$(arg startup_user_set)"/> | ||
| <param name="enable_status_publisher" value="$(arg enable_status_publisher)"/> | ||
| <param name="enable_current_params_publisher" value="false"/> | ||
| <param name="exposure" type="double" value="$(arg expose_us_left)"/> | ||
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| </node> | ||
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| <node pkg="nodelet" type="nodelet" name="$(arg camera_name_right)" args="$(arg nodelet_load_right)" output="screen" launch-prefix="bash -c 'sleep 6; $0 $@'; " respawn="$(arg respawn)" > | ||
| <rosparam command="load" file="$(arg camera_config_file)" /> | ||
| <param name="camera_frame" value="$(arg uav_name)/$(arg camera_name_right)_optical"/> | ||
| <param name="frame_rate" type="double" value="$(arg FRAME_RATE)"/> | ||
| <param name="device_user_id" type="string" value="$(arg BASLER_RIGHT_ID)"/> | ||
| <param name="startup_user_set" value="$(arg startup_user_set)"/> | ||
| <param name="enable_status_publisher" value="$(arg enable_status_publisher)"/> | ||
| <param name="enable_current_params_publisher" value="false"/> | ||
| <param name="exposure" type="double" value="$(arg expose_us_right)"/> | ||
| </node> | ||
|
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| <node pkg="nodelet" type="nodelet" name="$(arg camera_name_back)" args="$(arg nodelet_load_back)" output="screen" launch-prefix="bash -c 'sleep 7; $0 $@'; " respawn="$(arg respawn)" > | ||
| <rosparam command="load" file="$(arg camera_config_file)" /> | ||
| <param name="camera_frame" value="$(arg uav_name)/$(arg camera_name_back)_optical"/> | ||
| <param name="frame_rate" type="double" value="$(arg FRAME_RATE)"/> | ||
| <param name="device_user_id" type="string" value="$(arg BASLER_BACK_ID)"/> | ||
| <param name="startup_user_set" value="$(arg startup_user_set)"/> | ||
| <param name="enable_status_publisher" value="$(arg enable_status_publisher)"/> | ||
| <param name="enable_current_params_publisher" value="false"/> | ||
| <param name="exposure" type="double" value="$(arg expose_us_back)"/> | ||
| </node> | ||
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| <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" launch-prefix="bash -c 'sleep 8; $0 $@'; " respawn="false"> | ||
| <!-- <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="debug_roslaunch"> --> | ||
| <!-- <node name="uv_detect" pkg="uvdar" type="uv_detector_node" output="screen" launch-prefix="urxvt -e gdb -q -x /home/viktor/gdb.cmds -/-args"> --> | ||
| <param name="uav_name" type = "string" value="$(arg uav_name)"/> | ||
| <param name="debug" type="bool" value="$(arg debug)"/> | ||
| <!-- <param name="debug" type="bool" value="true"/> --> | ||
| <param name="gui" type="bool" value="false"/> | ||
| <param name="publish_visualization" type="bool" value="false"/> | ||
| <param name="justReport" type="bool" value="true"/> | ||
| <param name="threshold" type="int" value="$(arg threshold)"/> | ||
|
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| <param name="use_masks" type="bool" value="$(arg use_masks)"/> | ||
| <param name="body_name" type = "string" value="$(arg mrs_id)"/> | ||
| <rosparam param="mask_file_names" subst_value="True"> ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_LEFT_ID).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_RIGHT_ID).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_BACK_ID).png"] </rosparam> | ||
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| <rosparam param="camera_topics"> ["camera_left", "camera_right", "camera_back"] </rosparam> | ||
| <rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right", "points_seen_back"] </rosparam> | ||
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| <remap from="~camera_left" to="/$(arg uav_name)/basler_left/image_raw"/> | ||
| <remap from="~camera_right" to="/$(arg uav_name)/basler_right/image_raw"/> | ||
| <remap from="~camera_back" to="/$(arg uav_name)/basler_back/image_raw"/> | ||
| <remap from="~points_seen_left" to="/$(arg uav_name)/uvdar/points_seen_left"/> | ||
| <remap from="~points_seen_right" to="/$(arg uav_name)/uvdar/points_seen_right"/> | ||
| <remap from="~points_seen_back" to="/$(arg uav_name)/uvdar/points_seen_back"/> | ||
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| <remap from="~odometry" to="/$(arg uav_name)/mrs_odometry/new_odom"/> | ||
| <remap from="~imu" to="mavros/imu/data"/> | ||
| </node> | ||
|
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| <node name="blink_processor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false"> | ||
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| <param name="uav_name" type = "string" value="$(arg uav_name)"/> | ||
| <!-- <param name="debug" type="bool" value="$(arg debug)"/> --> | ||
| <param name="debug" type="bool" value="false"/> | ||
| <param name="visual_debug" type="bool" value="$(arg visual_debug)"/> | ||
| <param name="gui" type="bool" value="$(arg gui)"/> | ||
| <param name="publish_visualization" type="bool" value="$(arg publish_visualization)"/> | ||
| <param name="use_camera_for_visualization" type="bool" value="true"/> | ||
| <param name="visualization_rate" type="int" value="$(arg visualization_rate)"/> | ||
| <!-- <rosparam param="frequencies" subst_value="true"> [$(arg frequency1), $(arg frequency2), $(arg frequency3), $(arg frequency4)] </rosparam> --> | ||
| <rosparam param="signal_ids" subst_value="true"> [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] </rosparam> | ||
| <param name="sequence_file" type="string" value="$(arg sequence_file)"/> | ||
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| <param name="blink_process_rate" type="int" value="$(arg blink_process_rate)"/> | ||
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| <param name="max_px_shift_x" type="int" value="$(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)"/> | ||
| <param name="max_ones_consecutive" type="int" value="$(arg max_ones_consecutive)"/> | ||
| <param name="stored_seq_len_factor" type="int" value="$(arg stored_seq_len_factor)"/> | ||
| <param name="max_buffer_length" type="int" value="$(arg max_buffer_length)"/> | ||
| <param name="poly_order" type="int" value="$(arg poly_order)"/> | ||
| <param name="decay_factor" type="double" value="$(arg decay_factor)"/> | ||
| <param name="confidence_probability" type="double" value="$(arg confidence_probability)"/> | ||
| <param name="allowed_BER_per_seq" type="int" value="$(arg allowed_BER_per_seq)"/> | ||
|
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| <param name="accumulator_length" type="int" value="$(arg accumulator_length)"/> | ||
| <param name="pitch_steps" type="int" value="$(arg pitch_steps)"/> | ||
| <param name="yaw_steps" type="int" value="$(arg yaw_steps)"/> | ||
| <param name="max_pixel_shift" type="int" value="$(arg max_pixel_shift)"/> | ||
| <param name="nullify_radius" type="int" value="5"/> | ||
|
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| <rosparam param="camera_topics"> ["camera_left", "camera_right", "camera_back"] </rosparam> | ||
| <rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right", "points_seen_back"] </rosparam> | ||
| <rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] </rosparam> | ||
| <rosparam param="estimated_framerate_topics"> ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] </rosparam> | ||
| <rosparam param="ami_logging_topics"> ["ami_logging_left", "ami_logging_right", "ami_logging_back"] </rosparam> | ||
| <rosparam param="ami_all_seq_info_topics"> ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"] </rosparam> | ||
|
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| <remap from="~camera_left" to="/$(arg uav_name)/basler_left/image_raw"/> | ||
| <remap from="~camera_right" to="/$(arg uav_name)/basler_right/image_raw"/> | ||
| <remap from="~camera_back" to="/$(arg uav_name)/basler_back/image_raw"/> | ||
| <remap from="~points_seen_left" to="/$(arg uav_name)/uvdar/points_seen_left"/> | ||
| <remap from="~points_seen_right" to="/$(arg uav_name)/uvdar/points_seen_right"/> | ||
| <remap from="~points_seen_back" to="/$(arg uav_name)/uvdar/points_seen_back"/> | ||
| <remap from="~blinkers_seen_left" to="/$(arg uav_name)/uvdar/blinkers_seen_left"/> | ||
| <remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right"/> | ||
| <remap from="~blinkers_seen_back" to="/$(arg uav_name)/uvdar/blinkers_seen_back"/> | ||
| <remap from="~estimated_framerate_left" to="/$(arg uav_name)/uvdar/estimated_framerate_left"/> | ||
| <remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/> | ||
| <remap from="~estimated_framerate_back" to="/$(arg uav_name)/uvdar/estimated_framerate_back"/> | ||
| <remap from="~ami_logging_left" to="/$(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="/$(arg uav_name)/uvdar/ami_all_seq_info_back"/> | ||
| </node> | ||
| <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" output="screen" > | ||
| <!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out -/-instr-atstart=no -/-collect-atstart=yes"> --> | ||
| <!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out"> --> | ||
| <param name="uav_name" type = "string" value="$(arg uav_name)"/> | ||
| <param name="debug" type="bool" value="false"/> | ||
| <!-- <param name="debug" type="bool" value="false"/> --> | ||
| <!-- <param name="gui" type="bool" value="false"/> --> | ||
| <param name="gui" type="bool" value="false"/> | ||
| <param name="publish_visualization" type="bool" value="false"/> | ||
| <param name="publish_constituents" type="bool" value="true"/> | ||
| <!-- <param name="publish_visualization" type="bool" value="false"/> --> | ||
| <rosparam param="signal_ids" subst_value="true"> [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] </rosparam> | ||
|
|
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| <param name="quadrotor" type="bool" value="true"/> | ||
| <param name="custom_model" type="bool" value="true"/> | ||
| <param name="model_file" type="string" value="$(arg model_file)"/> | ||
| <param name="beacon" type="bool" value="false"/> | ||
|
|
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| <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="camera_frames" subst_value="true"> ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] </rosparam> | ||
|
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| <remap from="~blinkers_seen_left" to="/$(arg uav_name)/uvdar/blinkers_seen_left/throttled"/> | ||
| <remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right/throttled"/> | ||
| <remap from="~blinkers_seen_back" to="/$(arg uav_name)/uvdar/blinkers_seen_back/throttled"/> | ||
| <remap from="~estimated_framerate_left" to="/$(arg uav_name)/uvdar/estimated_framerate_left"/> | ||
| <remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/> | ||
| <remap from="~estimated_framerate_back" to="/$(arg uav_name)/uvdar/estimated_framerate_back"/> | ||
|
|
||
| <rosparam param="calib_files" subst_value="true"> ["$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg back).txt"] </rosparam> | ||
|
|
||
| <remap from="~constituentHypotheses" to="/$(arg uav_name)/uvdar/constituentHypotheses"/> | ||
| <remap from="~measuredPoses" to="/$(arg uav_name)/uvdar/measuredPoses"/> | ||
|
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| <param name="output_frame" type="string" value="$(arg output_frame)"/> | ||
| </node> | ||
| </group> | ||
|
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|
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| </launch> |