BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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Merge branch 'feature_web_setting' of https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo into feature_web_setting

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This commit is contained in:
Kayman 2018-02-23 21:14:12 +09:00
commit b58280b331
4 changed files with 21 additions and 16 deletions
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15
ball_detector/launch/ball_detector_from_usb_cam.launch
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@ -1,14 +1,15 @@
<?xml version="1.0"?>
<!-- Launches an UVC camera, the ball detector and its visualization -->
<launch>
<launch>
<!-- UVC camera -->
<node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
<param name="video_device" type="string" value="/dev/video0" />
<param name="image_width" type="int" value="800" />
<param name="image_height" type="int" value="600" />
<!-- <param name="image_width" type="int" value="1600" />
<param name="image_height" type="int" value="896" /> -->
<!--param name="image_width" type="int" value="800" />
<param name="image_height" type="int" value="600" /-->
<param name="image_width" type="int" value="1280" />
<param name="image_height" type="int" value="720" />
<param name="framerate " type="int" value="30" />
<param name="camera_frame_id" type="string" value="cam_link" />
<param name="camera_name" type="string" value="camera" />
<param name="autofocus" type="bool" value="False" />
<param name="autoexposure" type="bool" value="False" />
@ -16,6 +17,7 @@
<param name="gain" value="255" />
<param name="brightness" value="64" />
<param name="exposure" value="80" />
<!-- <param name="camera_info_url" type="string" value="file://$(find ar_pose)/data/camera_1280720.yaml" /> -->
</node>
<!-- <param name="gain" value="255" />
<param name="auto_exposure" type="bool" value="False" />
@ -23,7 +25,7 @@
<param name="brightness" value="127" />
<param name="auto_white_balance" type="bool" value="False" />
<param name="white_balance_temperature" value="2800" /> -->
<!-- <param name="auto_exposure" type="bool" value="False" /> -->
<!-- <param name="exposure_absolute" value="1000" /> -->
<!-- <param name="brightness" value="64" /> -->
@ -34,4 +36,3 @@
<include file="$(find ball_detector)/launch/ball_detector.launch" />
</launch>

14
ball_detector/launch/ball_detector_params.yaml
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@ -6,18 +6,18 @@ min_circle_dist: 100
hough_accum_th: 28
min_radius: 20
max_radius: 300
filter_h_min: 350
filter_h_max: 20
filter_s_min: 230
filter_h_min: 247
filter_h_max: 221
filter_s_min: 220
filter_s_max: 255
filter_v_min: 30
filter_v_max: 255
use_second_filter: false
filter2_h_min: 40
filter2_h_max: 345
filter2_s_min: 0
filter2_s_max: 44
filter2_s_min: 1
filter2_s_max: 45
filter2_v_min: 90
filter2_v_max: 255
ellipse_size: 3
filter_debug: false
ellipse_size: 5
filter_debug: true

2
ball_detector/launch/ball_detector_params_default.yaml
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@ -10,7 +10,7 @@ filter_h_min: 350
filter_h_max: 20
filter_s_min: 220
filter_s_max: 255
filter_v_min: 30
filter_v_min: 80
filter_v_max: 255
use_second_filter: false
filter2_h_min: 30

6
op3_demo/launch/demo.launch
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@ -16,7 +16,11 @@
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
<!-- web setting -->
<node pkg="web_video_server" type="web_video_server" name="web_video_server" output="screen"/>
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
<!-- robotis op3 demo -->
<node pkg="op3_demo" type="op_demo_node" name="op3_demo" output="screen">
<param name="grass_demo" type="bool" value="False" />