From c29245ee183e4fa261520cb17182f8685692a4e9 Mon Sep 17 00:00:00 2001
From: Daniel Angelov <dani_angelov@yahoo.com>
Date: Fri, 12 Feb 2016 20:10:23 +0000
Subject: [PATCH] Update the example launch file

Added the topics that needs to be remapped to avoid looking up in the code, as well as using a compressed version of the video stream.
---
 apriltags_ros/launch/example.launch | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/apriltags_ros/launch/example.launch b/apriltags_ros/launch/example.launch
index 11954be..02d2afd 100644
--- 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>
\ No newline at end of file
+</launch>