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Adding throttler
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ViktorWalter committed Jul 3, 2024
1 parent 0aabab2 commit d039c74
Showing 1 changed file with 9 additions and 1 deletion.
10 changes: 9 additions & 1 deletion launch/rw_three_sided_basler.launch
Original file line number Diff line number Diff line change
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<arg name="calibrations_folder" default="$(find mrs_uav_deployment)/config/uvdar_calibrations"/>

<arg name="FRAME_RATE" default="59.9" />
<arg name="FRAME_RATE" default="59.0" />


<!-- Point detector settings: -->
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<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"
args="messages /$(arg uav_name)/uvdar/blinkers_seen_left $(arg blink_throttle_rate) /$(arg uav_name)/uvdar/blinkers_seen_left/throttled" />
<node name="throttle_blinkers_right" type="throttle" pkg="topic_tools"
args="messages /$(arg uav_name)/uvdar/blinkers_seen_right $(arg blink_throttle_rate) /$(arg uav_name)/uvdar/blinkers_seen_right/throttled" />
<node name="throttle_blinkers_back" type="throttle" pkg="topic_tools"
args="messages /$(arg uav_name)/uvdar/blinkers_seen_back $(arg blink_throttle_rate) /$(arg uav_name)/uvdar/blinkers_seen_back/throttled" />
<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)"/>
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