From 9559b06983f6364ce4c32504d8d767b01df4c8f6 Mon Sep 17 00:00:00 2001
From: Kayman <kmjung@robotis.com>
Date: Wed, 8 Nov 2017 17:53:39 +0900
Subject: [PATCH 1/3] first commit for walking demo.

---
 .../launch/ball_detector_from_usb_cam.launch     | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/ball_detector/launch/ball_detector_from_usb_cam.launch b/ball_detector/launch/ball_detector_from_usb_cam.launch
index 2ae61c6..1535edd 100644
--- a/ball_detector/launch/ball_detector_from_usb_cam.launch
+++ b/ball_detector/launch/ball_detector_from_usb_cam.launch
@@ -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 +17,8 @@
         <param name="gain" value="255" />
         <param name="brightness" value="64" />
         <param name="exposure" value="80" />
+        <param name="camera_info_url" type="string"
+            value="file://$(find ar_pose)/data/camera_1280720.yaml" />
     </node>
 <!--         <param name="gain" value="255" />
         <param name="auto_exposure" type="bool" value="False" />
@@ -23,7 +26,7 @@
         <param name="brightness" value="127" />
         <param name="auto_white_balance" type="bool" value="False" />
         <param name="white_balance_temperature" value="2800" /> -->
-        
+
         <!-- <param name="auto_exposure" type="bool" value="False" /> -->
         <!-- <param name="exposure_absolute" value="1000" /> -->
         <!-- <param name="brightness" value="64" /> -->
@@ -34,4 +37,3 @@
     <include file="$(find ball_detector)/launch/ball_detector.launch" />
 
 </launch>
-

From 40d99493da3b2b325b6a4db61093e6bde6deeef7 Mon Sep 17 00:00:00 2001
From: Kayman <kmjung@robotis.com>
Date: Fri, 23 Feb 2018 14:16:52 +0900
Subject: [PATCH 2/3] changed some for web setting

---
 ball_detector/launch/ball_detector_from_usb_cam.launch | 3 +--
 op3_demo/launch/demo.launch                            | 6 +++++-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/ball_detector/launch/ball_detector_from_usb_cam.launch b/ball_detector/launch/ball_detector_from_usb_cam.launch
index 1535edd..0809458 100644
--- a/ball_detector/launch/ball_detector_from_usb_cam.launch
+++ b/ball_detector/launch/ball_detector_from_usb_cam.launch
@@ -17,8 +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://$(find ar_pose)/data/camera_1280720.yaml" />
+        <!-- <param name="camera_info_url" type="string" value="file://$(find ar_pose)/data/camera_1280720.yaml" /> -->
     </node>
 <!--         <param name="gain" value="255" />
         <param name="auto_exposure" type="bool" value="False" />
diff --git a/op3_demo/launch/demo.launch b/op3_demo/launch/demo.launch
index 29b9f67..17db508 100644
--- a/op3_demo/launch/demo.launch
+++ b/op3_demo/launch/demo.launch
@@ -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" />

From 390866a7557ca2e8f49430f890056fa9ed204953 Mon Sep 17 00:00:00 2001
From: Kayman <kmjung@robotis.com>
Date: Fri, 23 Feb 2018 21:04:24 +0900
Subject: [PATCH 3/3] changed default params

---
 ball_detector/launch/ball_detector_params.yaml     | 14 +++++++-------
 .../launch/ball_detector_params_default.yaml       |  4 ++--
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ball_detector/launch/ball_detector_params.yaml b/ball_detector/launch/ball_detector_params.yaml
index 86bd8e9..dd4c366 100644
--- a/ball_detector/launch/ball_detector_params.yaml
+++ b/ball_detector/launch/ball_detector_params.yaml
@@ -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
\ No newline at end of file
+ellipse_size: 5
+filter_debug: true
\ No newline at end of file
diff --git a/ball_detector/launch/ball_detector_params_default.yaml b/ball_detector/launch/ball_detector_params_default.yaml
index a97969a..439d4f1 100644
--- a/ball_detector/launch/ball_detector_params_default.yaml
+++ b/ball_detector/launch/ball_detector_params_default.yaml
@@ -10,9 +10,9 @@ 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: true
+use_second_filter: false
 filter2_h_min: 30
 filter2_h_max: 355
 filter2_s_min: 0