From 75f9a9aca0bae8ded0b42fb27369c56040e43f22 Mon Sep 17 00:00:00 2001
From: "litian.zhuang" <litian.zhuang@nxrobo.com>
Date: Mon, 13 Dec 2021 18:10:27 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=B8=8D=E5=90=8C=E6=91=84?=
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---
 src/3rd_app/darknet_ros/darknet_ros/launch/darknet_ros.launch | 4 +++-
 .../tensorflow_object_detector/launch/object_detect.launch    | 3 ++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/3rd_app/darknet_ros/darknet_ros/launch/darknet_ros.launch b/src/3rd_app/darknet_ros/darknet_ros/launch/darknet_ros.launch
index 60f888f..5c3bfbf 100755
--- a/src/3rd_app/darknet_ros/darknet_ros/launch/darknet_ros.launch
+++ b/src/3rd_app/darknet_ros/darknet_ros/launch/darknet_ros.launch
@@ -24,7 +24,9 @@
     <param name="config_path"           value="$(arg yolo_config_path)" />
     <remap from="darknet_ros/detection_image"  to="$(arg output_image)" />
     <remap from="camera/rgb/image_raw" to="/camera/color/image_raw" if="$(eval arg('camera_type_tel')=='d435')"/>
-    <remap from="image" to="/camera/rgb/image_raw" unless="$(eval arg('camera_type_tel')=='d435')"/>
+    <remap from="camera/rgb/image_raw" to="/camera/rgb/image_raw" if="$(eval arg('camera_type_tel')=='astrapro')"/>
+    <remap from="camera/rgb/image_raw" to="/camera/rgb/image_raw" if="$(eval arg('camera_type_tel')=='astra')"/>
+
   </node>
 
  <!--<node name="republish" type="republish" pkg="image_transport" output="screen" 	args="compressed in:=/front_camera/image_raw raw out:=/camera/image_raw" /> -->
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
index 33fa9a4..0ddaf11 100755
--- a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
+++ b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
@@ -13,7 +13,8 @@
 
 	<node pkg= "tensorflow_object_detector" name="detect_ros" type="detect_ros.py"  output="screen"> 
     		<remap from="image" to="/camera/color/image_raw" if="$(eval arg('camera_type_tel')=='d435')"/>
-		<remap from="image" to="/camera/rgb/image_raw" unless="$(eval arg('camera_type_tel')=='d435')"/>
+		<remap from="image" to="/camera/rgb/image_raw" if="$(eval arg('camera_type_tel')=='astrapro')"/>
+		<remap from="image" to="/camera/rgb/image_raw" if="$(eval arg('camera_type_tel')=='astra')"/>
 	</node>