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<launch>
<arg name="gui" default="true" />
<param name="use_sim_time" value="true" />
<node name="play_vslam_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/vslam_tutorial.bag -s 5 --topics /narrow_stereo/left/image_rect /clock" />
<group ns="narrow_stereo/left" >
<node name="republish" pkg="image_transport" type="republish" args="raw in:=image_rect compressed out:=image_rect" />
<node name="input" pkg="image_view" type="image_view" args="image:=image_rect compressed" if="$(arg gui)" />
<node name="output" pkg="image_view" type="image_view" args="image:=/image_converter/output_video compressed" if="$(arg gui)" />
<!-- simple_example.cpp -->
<node name="simple_compressed_example" pkg="opencv_apps" type="simple_compressed_example" args="image/compressed:=image_rect/compressed" >
<param name="debug_view" value="$(arg gui)" />
</node>
<!-- Testing -->
<param name="simple_compressed_example_test/topic" value="/image_converter/output_video/compressed" />
<test test-name="simple_compressed_example_test" pkg="rostest" type="hztest" name="simple_compressed_example_test" retry="3" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
</group>
</launch>
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