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aruco_launch.py 1.2KB

2 years ago
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  1. from launch import LaunchDescription
  2. from launch_ros.actions import Node
  3. def generate_launch_description():
  4. return LaunchDescription([
  5. Node(
  6. package='aruco_detector',
  7. executable='aruco_detector_node',
  8. parameters=[
  9. {'url_yaml_file' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"}, # !! insert here your own yaml file url
  10. ]
  11. ),
  12. Node(
  13. package='usb_cam',
  14. executable='usb_cam_node_exe',
  15. parameters=[
  16. {'framerate' : 30.0},
  17. {'camera_name' : 'hd_pro_webcam_c920'},
  18. {'autofocus' : True},
  19. {'camera_info_url' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"}, # !! insert here your own yaml file url
  20. #uncomment for Full_HD
  21. #{'image_width' : 1920},
  22. #{'image_height' : 1080},
  23. #uncomment for HD
  24. {'image_width' : 1280},
  25. {'image_height' : 720},
  26. ]
  27. ),
  28. Node(
  29. package='rqt_image_view',
  30. executable='rqt_image_view',
  31. ),
  32. ])