break out detect charuco

biodigitalmatter · Sep 4, 2024 · 986abab · 986abab
1 parent 4613c5b
commit 986abab
Show file tree

Hide file tree

Showing 2 changed files with 28 additions and 18 deletions.
diff --git a/launch/detect_charuco.launch b/launch/detect_charuco.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<launch xmlns:xs="http://www.w3.org/2001/XMLSchema"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:noNamespaceSchemaLocation="https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.xsd">
+
+  <arg name="board" default="large" />
+
+  <group if="$(eval board == 'large')">
+    <arg name="squares_sides_size_in_meters" value="0.040" />
+    <arg name="markers_sides_size_in_meters" value="0.031" />
+    <arg name="number_of_squares_in_x" value="14" />
+    <arg name="number_of_squares_in_y" value="9" />
+    <arg name="number_of_markers" value="63" />
+  </group>
+
+  <include file="$(find charuco_detector)/launch/charuco_detector.launch"
+    if="$(eval board == 'large')" pass_all_args="true">
+    <arg name="image_topic" value="/rgbd_camera/rgb/image_raw" />
+    <arg name="camera_info_topic" value="/rgbd_camera/rgb/camera_info" />
+  </include>
+</launch>
diff --git a/launch/eye_in_hand.launch b/launch/eye_in_hand.launch
@@ -30,37 +30,26 @@
 
   <arg name="board" default="large" />
 
+  <include file="$(dirname)/detect_charuco.launch">
+    <arg name="board" value="$(arg board)" />
+  </include>
   <include file="$(dirname)/rgbd.launch">
     <arg name="no_mapping" value="true" />
   </include>
   <include file="$(dirname)/robots.launch">
     <arg name="no_rrc" value="true" />
   </include>
 
-  <group if="$(eval board == 'large')">
-    <arg name="squares_sides_size_in_meters" value="0.040" />
-    <arg name="markers_sides_size_in_meters" value="0.031" />
-    <arg name="number_of_squares_in_x" value="14" />
-    <arg name="number_of_squares_in_y" value="9" />
-    <arg name="number_of_markers" value="63" />
-  </group>
-
-  <include file="$(find charuco_detector)/launch/charuco_detector.launch"
-    if="$(eval board == 'large')" pass_all_args="true">
-    <arg name="image_topic" value="/rgbd_camera/rgb/image_raw" />
-    <arg name="camera_info_topic" value="/rgbd_camera/rgb/camera_info" />
-  </include>
-
   <include file="$(find easy_handeye)/launch/calibrate.launch">
     <arg name="eye_on_hand" value="true" />
 
     <!-- fill in the following parameters according to your robot's published tf frames -->
-    <arg name="robot_base_frame" value="/base_link" />
-    <arg name="robot_effector_frame" value="/tool0" />
+    <arg name="robot_base_frame" value="base_link" />
+    <arg name="robot_effector_frame" value="tool0" />
 
     <!-- fill in the following parameters according to your tracking system's published tf frames -->
-    <arg name="tracking_base_frame" value="/rgbd_camera_rgb_camera_optical_frame" />
-    <arg name="tracking_marker_frame" value="/charuco" />
+    <arg name="tracking_base_frame" value="rgbd_camera_rgb_camera_optical_frame" />
+    <arg name="tracking_marker_frame" value="charuco" />
 
     <arg name="freehand_robot_movement" value="true" />