adding avlar file, arlaunchfile, and ar node

Laurenhut · Dec 1, 2017 · 8c90d40 · 8c90d40
1 parent 42c716f
commit 8c90d40
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diff --git a/launch/artesting.launch b/launch/artesting.launch
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+<launch>
+
+
+
+
+ <arg name="marker_size" default="6.9" />
+ <arg name="max_new_marker_error" default="0.08" />
+ <arg name="max_track_error" default="0.2" />
+ <arg name="cam_image_topic" default="/cameras/right_hand_camera/image" />
+ <arg name="cam_info_topic" default="/cameras/right_hand_camera/camera_info" />
+ <arg name="output_frame" default="/right_hand_camera_axis" />
+
+
+ <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
+  <param name="marker_size"           type="double" value="$(arg marker_size)" />
+  <param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
+  <param name="max_track_error"       type="double" value="$(arg max_track_error)" />
+  <param name="output_frame"          type="string" value="$(arg output_frame)" />
+
+  <remap from="camera_image"  to="$(arg cam_image_topic)" />
+  <remap from="camera_info"   to="$(arg cam_info_topic)" />
+ </node>
+
+</launch>
diff --git a/src/ar_track_alvar b/src/ar_track_alvar