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[detect_cans_in_fridge_201202] fix: wrong arg name at some launch files #1203

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merged 1 commit into from
Oct 27, 2016
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[detect_cans_in_fridge_201202] fix: wrong arg name at some launch files #1203

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2 changes: 2 additions & 0 deletions detect_cans_in_fridge_201202/launch/gazebo_startup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<arg name="wait_query" default="false" />
<arg name="execute" default="true" />
<arg name="DEMOTYPE" default="map" />
<arg name="visualize" default="false" />

<include file="$(find jsk_pr2_startup)/sample/pr2_gazebo_73b2.launch">
<arg name="INITIAL_POSE_X" value="3.5" />
Expand All @@ -16,5 +17,6 @@
<arg name="wait_query" value="$(arg wait_query)" />
<arg name="execute" value="$(arg execute)" />
<arg name="DEMOTYPE" value="$(arg DEMOTYPE)" />
<arg name="visualize" value="$(arg visualize)" />
</include>
</launch>
25 changes: 12 additions & 13 deletions detect_cans_in_fridge_201202/launch/perception.launch
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Expand Up @@ -38,21 +38,20 @@
<param name="target_type" value="georgia" />
</node>
</group>
<node name="gaussianmanager" pkg="nodelet" type="nodelet" args="manager"
output="screen" />
<node pkg="nodelet" type="nodelet" name="posewithcovstampedtogaussian"
args="load jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud gaussianmanager"
output="screen" >
<remap from="~input" to="/simplecov" />
<rosparam>
cut_plane: flipped_yz
normalize_method: normalize_height
sampling_num: 40
</rosparam>
</node>
</group>

<node name="gaussianmanager" pkg="nodelet" type="nodelet" args="manager"
output="screen" if="$(arg visualize)"/>
<node pkg="nodelet" type="nodelet" name="posewithcovstampedtogaussian"
args="load jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud gaussianmanager"
output="screen" >
<remap from="~input" to="/simplecov" />
<rosparam>
cut_plane: flipped_yz
normalize_method: normalize_height
sampling_num: 40
</rosparam>
</node>

<!-- reference white -->
<anode pkg="image_view2" type="image_view2" name="select_ref_white" machine="c2">
<remap from="image" to="/kinect_head_c2/rgb/image_rect_color"/>
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3 changes: 2 additions & 1 deletion detect_cans_in_fridge_201202/launch/startup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<arg name="app_manager" default="false" />
<arg name="run_behavior" default="true" />
<arg name="debug_view" default="true" />
<arg name="visualize" default="false" />

<include file="$(find pr2_machine)/$(env ROBOT).machine" />

Expand All @@ -26,7 +27,7 @@
</node>

<include file="$(find detect_cans_in_fridge_201202)/launch/perception.launch">
<arg name="visualize_fridge" value="false" />
<arg name="visualize" value="$(arg visualize)" />
<arg name="debug_view" value="$(arg debug_view)" />
<arg name="roi" value="false" />
</include>
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