Correct debayer node and add remapping

clearpathrobotics · Sep 28, 2023 · 7bceaf6 · 7bceaf6
1 parent e9d7fc8
commit 7bceaf6
Showing 1 changed file with 13 additions and 3 deletions.
diff --git a/clearpath_sensors/launch/flir_blackfly.launch.py b/clearpath_sensors/launch/flir_blackfly.launch.py
@@ -45,7 +45,7 @@ def generate_launch_description():
  'config',
  'flir_blackfly.yaml'
  ]))
- 
+
  arg_param_mapping_file = DeclareLaunchArgument(
  'param_mapping_file',
  default_value=PathJoinSubstitution([
@@ -64,14 +64,24 @@ def generate_launch_description():
  executable='camera_driver_node',
  parameters=[parameters, {'parameter_file': param_mapping_file,}],
  output='screen',
+ remappings=[
+ ('flir_blackfly/camera_info', 'color/camera_info'),
+ ('flir_blackfly/control', 'control'),
+ ('flir_blackfly/image_raw', 'image_raw'),
+ ('flir_blackfly/meta', 'meta'),
+ ]
  )
- 
+
  debayer_node = Node(
  package='image_proc',
  namespace=namespace,
  name='debayer_node',
- plugin='image_proc::DebayerNode',
+ executable='image_proc',
  output='screen',
+ remappings=[
+ ('image_color', 'color/image')
+ ('image_mono', 'mono/image')
+ ]
  )
 
  ld = LaunchDescription()