update uvdar launch file

ctu-mrs · May 10, 2024 · 39a9ea6 · 39a9ea6
1 parent 5a3190f
commit 39a9ea6
Showing 1 changed file with 9 additions and 9 deletions.
diff --git a/launch/uvdar_dual_cameras.launch b/launch/uvdar_dual_cameras.launch
@@ -100,7 +100,7 @@
       <param name="num_worker_threads" value="8" />
     </node>
 
-    <node name="bluefox_emulator" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBluefoxEmulator $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 5; $0 $@'">
+    <node name="bluefox_emulator" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBluefoxEmulator $(arg nodelet_manager)" output="screen" respawn="false">
       <rosparam param="camera_output_topics"> ["camera_left", "camera_right"] </rosparam>
       <rosparam param="calib_files"> ["default", "default"] </rosparam>
       <remap from="~camera_left" to="/$(arg uav_name)/uvdar_bluefox_left/image_raw"/>
@@ -109,7 +109,7 @@
       <remap from="~camera_right_transfer" to="/gazebo/$(arg uav_name)/uvdar_bluefox_right/image_raw"/>
     </node>
 
-    <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="false"> 
+    <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 10; $0 $@'"> 
     <!-- <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="true" launch-prefix="debug_roslaunch"> --> 
       <!-- <node name="uv_detect" pkg="uvdar" type="uv_detector_node" output="screen" launch-prefix="urxvt -e gdb -q -x /home/viktor/gdb.cmds -/-args"> -->
         <!-- <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="true" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out -/-instr-atstart=no -/-collect-atstart=yes"> --> 
@@ -141,7 +141,7 @@
     </node>
 
 
-    <node name="blink_processor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false">
+    <node name="blink_processor" pkg="nodelet" type="nodelet" args="load uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="false" launch-prefix="bash -c 'sleep 15; $0 $@'">
 
       <param name="uav_name" type = "string" value="$(arg uav_name)"/>
       <param name="debug"		type="bool" value="$(arg debug)"/> 
@@ -176,8 +176,8 @@
       <rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right"] </rosparam>
       <rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right"] </rosparam>
       <rosparam param="estimated_framerate_topics"> ["estimated_framerate_left", "estimated_framerate_right"] </rosparam>
-      <rosparam param="omta_logging_topics"> ["omta_logging_left", "omta_logging_right"] </rosparam>
-      <rosparam param="omta_all_seq_info_topics"> ["omta_all_seq_info_left", "omta_all_seq_info_right"] </rosparam>
+      <rosparam param="ami_logging_topics"> ["ami_logging_left", "ami_logging_right"] </rosparam>
+      <rosparam param="ami_all_seq_info_topics"> ["ami_all_seq_info_left", "ami_all_seq_info_right"] </rosparam>
 
       <remap from="~camera_left" to="/$(arg uav_name)/uvdar_bluefox_left/image_raw"/> -
       <remap from="~camera_right" to="/$(arg uav_name)/uvdar_bluefox_right/image_raw"/>
@@ -187,10 +187,10 @@
       <remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right"/>
       <remap from="~estimated_framerate_left" to="/$(arg uav_name)/uvdar/estimated_framerate_left"/>
       <remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/>
-      <remap from="~omta_logging_left" to="/$(arg uav_name)/uvdar/omta_logging_left"/>
-      <remap from="~omta_logging_right" to="/$(arg uav_name)/uvdar/omta_logging_right"/>
-      <remap from="~omta_all_seq_info_left" to="/$(arg uav_name)/uvdar/omta_all_seq_info_left"/>
-      <remap from="~omta_all_seq_info_right" to="/$(arg uav_name)/uvdar/omta_all_seq_info_right"/>
+      <remap from="~ami_logging_left" to="/$(arg uav_name)/uvdar/ami_logging_left"/>
+      <remap from="~ami_logging_right" to="/$(arg uav_name)/uvdar/ami_logging_right"/>
+      <remap from="~ami_all_seq_info_left" to="/$(arg uav_name)/uvdar/ami_all_seq_info_left"/>
+      <remap from="~ami_all_seq_info_right" to="/$(arg uav_name)/uvdar/ami_all_seq_info_right"/>
 
       <remap from="~visualization" to="/$(arg uav_name)/uvdar/blink_visualization/image_raw"/>