travis and rosinstall

.robotis_op3_demo.rosinstall

@@ -1,2 +1,2 @@
-- git: {local-name: robotis_op3_tools, uri: 'https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git', version: master}
-- git: {local-name: humanoid_navigation, uri: 'https://github.com/ROBOTIS-GIT/humanoid_navigation.git', version: master}
+- git: {local-name: robotis_op3_tools, uri: 'https://github.com/Robotics-Sensors/ROBOTIS-OP3-Tools.git', version: noetic}
+- git: {local-name: humanoid_navigation, uri: 'https://github.com/Robotics-Sensors/humanoid_navigation.git', version: noetic}

.travis.yml

@@ -7,7 +7,7 @@ services:
   - docker
 language: generic
 python:
-  - "2.7"
+  - "3.8"
 compiler:
   - gcc
 notifications:
@@ -15,21 +15,16 @@ notifications:
     on_success: change
     on_failure: always
     recipients:
-      - pyo@robotis.com
+      - ronaldsonbellande@gmail.com
 env:
   matrix:
-    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial
-#   - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
-#   - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file   OS_NAME=ubuntu OS_CODE_NAME=xenial $ROSINSTALL_FILENAME=".robotis_op3_demo.rosinstall"
-#   - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
-#   - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
+  - ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file   OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".robotis_op3_demo.rosinstall"
 branches:
   only:
     - master
-    - develop
-    - kinetic-devel
+    - noetic
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:
   - source .ci_config/travis.sh
-  
+  

op3_ball_detector/launch/ball_detector_from_uvc.launch

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 
+<!-- Launches an UVC camera, the ball detector and its visualization  -->
 
 
 
@@ -11,18 +12,20 @@
 
     <param name="device" type="string" value="/dev/video0" />
 
-
-    <param name="height" type="int" value="600" />
-
-    <param name="fps" type="int" value="30" />
-
-    <param name="auto_gain" value="false" />
+    <param name="width" type="int" value="800" />
+
+    <param name="height" type="int" value="600" />
+
+    <param name="fps" type="int" value="30" />
+
+    <param name="auto_gain" value="false" />
+
     <param name="gain" type="int" value="120" />
 
     <param name="exposure" value="100" />
 
   </node>
-  </node>
+
 
 
   <!-- <param name="gain" value="255" /> -->

op3_ball_detector/package.xml

@@ -3,7 +3,7 @@
   <name>op3_ball_detector</name>
   <version>0.1.0</version>
   <description>
-    This package implements a circle-like shape detector of the input image.
+    This package implements a circle-like shape detector of the input image
     It requires and input image and publish, at frame rate, a marked image
     and a stamped array of circle centers and radius.
   </description>

op3_demo/launch/demo.launch

@@ -7,7 +7,7 @@
   <include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
 
   <!-- face tracking -->
-  <include file="$(find op3_demo)/launch/face_detection_op3.launch" />
+  <!-- <include file="$(find op3_demo)/launch/face_detection_op3.launch" /> -->
 
   <!-- camera setting tool -->
   <include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
@@ -24,4 +24,5 @@
     <param name="p_gain" value="0.45" />
     <param name="d_gain" value="0.045" />
   </node>
+
 </launch>

op3_demo/launch/face_detection_op3.launch

@@ -13,6 +13,7 @@
               $(arg face_cascade_name_4)" output="screen">
     <param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
     <param name="displayed_Image" type="int" value="0" />
+
     <!-- <param name="publish" type="int" value="2" /> -->
     <param name="publish" type="int" value="3" />
     <param name="start_condition" type="bool" value="false" />