ROS_system/camera_system/launch/camera_system.launch at main · entc17fyp6/ROS_system · GitHub

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<launch>
    <arg name="camera_count" default="2" />   <!-- 1-single_camera_feed, 2-multi_camera_feed -->
    <arg name="camera_feed" default="false" /> <!-- true-camera_feed, false-video_feed -->

    <arg name="traffic_light_detection" default="true" />
    <arg name="lane_detection" default="true" />
    <arg name="road_marking_detection" default="true" />

    <arg name="usb_mobile_app_enable" default= "true" />
    <arg name="traffic_light_annotator_app_enable" default="true" />

    <arg name="frame_rate" default="30" />
    <arg name="narrow_AutoExposureTimeUpperLimit" default="2000" />
    <arg name="wide_AutoExposureTimeUpperLimit" default="1000" />

    <!-- <arg name="input_narrow_video" default="/media/fyp/sdCard/4_18_videos_near_campus/18-04-2022_10-48_narrow_cam.mp4"/>
    <arg name="input_wide_video" default="/media/fyp/sdCard/4_18_videos_near_campus/18-04-2022_10-48_wide_cam.mp4"/> -->
    <arg name="input_narrow_video" default="/media/fyp/sdCard/traffic_light_videos/27-02-2022_11-02_narrow_cam.mp4"/>
    <arg name="input_wide_video" default="/media/fyp/sdCard/traffic_light_videos/27-02-2022_11-02_wide_cam.mp4"/>


    <param name="narrow_AutoExposureTimeUpperLimit" value="$(arg narrow_AutoExposureTimeUpperLimit)"/>
    <param name="wide_AutoExposureTimeUpperLimit" value="$(arg wide_AutoExposureTimeUpperLimit)"/>

    <param name="camera_count" value="$(arg camera_count)"/>
    <param name="frame_rate" value="$(arg frame_rate)"/>

    <param name="input_narrow_video" value="$(arg input_narrow_video)"/>
    <param name="input_wide_video" value="$(arg input_wide_video)"/>


    <node if="$(eval camera_feed == false)" pkg="camera_system"
        type="image_feeder"
        name="image_feeder"
        output="screen"
    >
    </node>

    <group if="$(eval camera_feed == true)">
        <node if="$(eval camera_count == 1)" pkg="camera_system"
            type="single_camera_image_feeder"
            name="single_camera_image_feeder"
            output="screen"
        ></node>

        <node if="$(eval camera_count == 2)" pkg="camera_system"
            type="multi_camera_image_feeder"
            name="multi_camera_image_feeder"
            output="screen"
        ></node>
    </group>

     <arg name="web_mobile_app_enable" default= "false" />  <!-- ************ do not enable web_mobile_app (conflicts with usb mobile app due to slowness in uploading to internet) *********** -->

    <include if="$(eval traffic_light_detection == true)" file="/home/fyp/catkin_ws/src/traffic_light_detector/launch/traffic_light_detector.launch">
        <arg name="cam_count" value="$(arg camera_count)" />
        <arg name="frame_rate" value="$(arg frame_rate)" />
        <arg name="usb_mobile_app_enable" value= "$(arg usb_mobile_app_enable)" />
        <arg name="web_mobile_app_enable" value= "$(arg web_mobile_app_enable)" />
        <arg name="traffic_light_annotator_app_enable" value= "$(arg traffic_light_annotator_app_enable)" />
    </include>

    <include if="$(eval lane_detection == true)" file="/home/fyp/catkin_ws/src/lane_detector/launch/lane_detection.launch">
        <arg name="frame_rate" value="$(arg frame_rate)" />
        <arg name="cam_count" value="$(arg camera_count)" />
        <arg name="usb_mobile_app_enable" value= "$(arg usb_mobile_app_enable)" />
    </include>

    <include if="$(eval road_marking_detection == true)" file="/home/fyp/catkin_ws/src/road_marking_detector/launch/road_marking_detector.launch">
        <arg name="frame_rate" value="$(arg frame_rate)" />
        <arg name="cam_count" value="$(arg camera_count)" />
    </include>


    <node
            if="$(eval arg('traffic_light_detection') and arg('lane_detection'))"
            pkg="rviz"
            type="rviz"
            name="$(anon traffic_light_lane_rviz)"
            output="screen"
            args="-d /home/fyp/catkin_ws/src/camera_system/rviz/traffic_lane.rviz"

    ></node>

    <node
            if="$(eval arg('traffic_light_detection') and arg('lane_detection')== false)"
            pkg="rviz"
            type="rviz"
            name="$(anon traffic_light_rviz)"
            output="screen"
            args="-d /home/fyp/catkin_ws/src/camera_system/rviz/traffic.rviz"

    ></node>

    <node
            if="$(eval arg('traffic_light_detection')==false and arg('lane_detection'))"
            pkg="rviz"
            type="rviz"
            name="$(anon lane_rviz)"
            output="screen"
            args="-d /home/fyp/catkin_ws/src/camera_system/rviz/lane.rviz"

    ></node>

    <node
            if="$(eval arg('road_marking_detection')==true)"
            pkg="rviz"
            type="rviz"
            name="$(anon road_marking_rviz)"
            output="screen"
            args="-d /home/fyp/catkin_ws/src/camera_system/rviz/road_marking.rviz"

    ></node>


</launch>