whycon.launch

<?xml version="1.0"?>
<launch>

  <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="reconfigurator"/>
  
  <arg name="cam_info"  default="/usb_cam/camera_info"  doc="camera_info topic"/>
  <arg name="cam_raw"   default="/usb_cam/image_raw"    doc="image_raw topic"/>

  <arg name="circle_diam"   default="0.1" doc="Outer circle diameter in meters"/>
  <arg name="id_bits"       default="2"     doc="Number of encoded bits"/>
  <arg name="id_samples"    default="720"   doc="Number of samples to detect ID"/>
  <arg name="hamming_dist"  default="1"     doc="Hamming distance used for ID"/>
  <arg name="num_markers"   default="1"     doc="Initial number of markers to detect"/>
  <arg name="pub_tf"        default="true"  doc="Whether to publish transformations from camera to marker frame"/>
  <arg name="pub_visual"    default="true"  doc="Whether to publish visualization markers"/>
  <arg name="use_gui"       default="true"  doc="Whether to use GUI"/>

  <node pkg="whycon" type="whycon" name="whycon" output="screen" launch-prefix="">
    <remap from="/camera/camera_info" to="$(arg cam_info)"/>
    <remap from="/camera/image_raw"   to="$(arg cam_raw)"/>
    
    <param name="circle_diam"   value="$(arg circle_diam)"/>
    <param name="id_bits"       value="$(arg id_bits)"/>
    <param name="id_samples"    value="$(arg id_samples)"/>
    <param name="hamming_dist"  value="$(arg hamming_dist)"/>
    <param name="num_markers"   value="$(arg num_markers)"/>
    <param name="pub_tf"        value="$(arg pub_tf)"/>
    <param name="pub_visual"    value="$(arg pub_visual)"/>
    <param name="use_gui"       value="$(arg use_gui)"/>
  </node>

</launch>