40 lines
1.5 KiB
XML
40 lines
1.5 KiB
XML
<launch>
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<!-- Images -->
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<node pkg="data_simulator" exec="image_publisher" name="image_publisher" />
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<node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
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<env name="GST_DEBUG" value=""/> <!-- Setting to 3 can help if its not working -->
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<param from="$(find-pkg-share am_i_up)/params/image2rtsp.yaml"/>
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</node>
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<!-- j7s threed -->
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<node pkg="data_simulator" exec="frame_publisher" name="frame_publisher" />
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<node pkg="j7s_threed" exec="j7s_threed_node" name="threed_node">
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<param from="$(find-pkg-share j7s_threed)/params/threed_world.yaml" allow_substs="true"/>
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<remap from="image" to="threed_image"/>
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</node>
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<node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
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<env name="GST_DEBUG" value=""/> <!-- Setting to 3 can help if its not working -->
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<param from="$(find-pkg-share am_i_up)/params/j7s_threed_image2rtsp.yaml"/>
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</node>
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<!-- Vehicle Position -->
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<node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
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<!-- Identity -->
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<node pkg="data_simulator" exec="identity_publisher" name="identity_publisher" />
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<!-- Diagnostics -->
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<node pkg="data_simulator" exec="diagnostic_publisher" name="diagnostic_1">
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<param name="diag_level" value="OK"/>
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<param name="node_name" value="node_1"/>
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</node>
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<node pkg="data_simulator" exec="diagnostic_publisher" name="diagnostic_2">
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<param name="diag_level" value="WARN"/>
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<param name="node_name" value="node_2"/>
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</node>
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<!-- Aggregator -->
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<node pkg="j7s_diagnostics_ros" exec="j7s_diagnostic_node"/>
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</launch>
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