Merge pull request #2 from 23pointsNorth/patch-1

Update the example launch file
RIVeR-Lab · Jun 2, 2016 · a27e67a · a27e67a
2 parents 26afe9e + c29245e
commit a27e67a
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/apriltags_ros/launch/example.launch b/apriltags_ros/launch/example.launch
@@ -1,12 +1,20 @@
 <launch>
   <node pkg="apriltags_ros" type="apriltag_detector_node" name="apriltag_detector" output="screen">
+    <!-- Remap topic required by the node to custom topics -->
+    <remap from="image_rect" to="image_rect" />
+    <remap from="camera_info" to="camera_info" />
+
+    <!-- Optional: Subscribe to the compressed stream-->
+    <param name="image_transport" type="str" value="compressed" />
+
+    <!-- Describe the tags -->
     <rosparam param="tag_descriptions">[
       {id: 0, size: 0.163513},
       {id: 1, size: 0.163513, frame_id: a_frame},
-      {id: 2, size: 0.163513},
+      {id: 2, size: 0.163513, frame_id: tag_2},
       {id: 3, size: 0.163513},
       {id: 4, size: 0.163513},
       {id: 5, size: 0.163513}]
     </rosparam>
   </node>
-</launch>
+</launch>