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change camera_types to camera_type_tel

This commit is contained in:
litian.zhuang 2022-04-01 15:42:29 +08:00
parent 8ab66c08d0
commit 7643f0c7a2
17 changed files with 24 additions and 24 deletions
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2
src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
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@ -7,7 +7,7 @@
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="start_base" value="true"/> <arg name="start_base" value="true"/>
</include> </include>

2
src/spark/spark_bringup/launch/driver_bringup.launch
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@ -26,7 +26,7 @@
<!--打开摄像头 --> <!--打开摄像头 -->
<group if="$(arg start_camera)"> <group if="$(arg start_camera)">
<!-- 启动摄像头 --> <!-- 启动摄像头 -->
<include file="$(find camera_driver_transfer)/launch/$(arg camera_types).launch"> <include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel).launch">
<arg name="dp_rgist" value="$(arg dp_rgist)"/> <arg name="dp_rgist" value="$(arg dp_rgist)"/>
</include> </include>
</group> </group>

2
src/spark/spark_teleop/launch/teleop.launch
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@ -5,7 +5,7 @@
<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/> <arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
<!--spark底盘驱动，机器人描述,底盘,相机--> <!--spark底盘驱动，机器人描述,底盘,相机-->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/> <arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
</include> </include>
<!-- 启动雷达 --> <!-- 启动雷达 -->

2
src/spark/spark_test/launch/all_run_test.launch
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@ -16,7 +16,7 @@
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="start_base" value="true"/> <arg name="start_base" value="true"/>
</include> </include>
<!--UARM机械臂 --> <!--UARM机械臂 -->

2
src/spark_app/spark_carry/launch/spark_carry_cal_cv3.launch
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@ -10,7 +10,7 @@
<!--spark驱动，机器人描述，相机，底盘--> <!--spark驱动，机器人描述，相机，底盘-->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>
<!--摄像头订阅与视觉定位--> <!--摄像头订阅与视觉定位-->

2
src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch
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@ -6,7 +6,7 @@
<!--导航 --> <!--导航 -->
<include file="$(find spark_navigation)/launch/amcl_demo_lidar.launch"> <include file="$(find spark_navigation)/launch/amcl_demo_lidar.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="start_camera" value="true"/> <arg name="start_camera" value="true"/>
<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/> <arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
</include> </include>

2
src/spark_app/spark_navigation/launch/amcl_demo_rviz.launch
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@ -7,7 +7,7 @@
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
</include> </include>
<!-- Run the depthimage_to_laserscan node --> <!-- Run the depthimage_to_laserscan node -->

2
src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
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@ -7,7 +7,7 @@
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="dp_rgist" value="true"/> <arg name="dp_rgist" value="true"/>
</include> </include>

2
src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
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@ -6,7 +6,7 @@
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" /> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" />
<!-- spark base driver --> <!-- spark base driver -->
<include file="$(find spark_rtabmap)/launch/rtab_demo.launch"> <include file="$(find spark_rtabmap)/launch/rtab_demo.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>

8
src/spark_app/spark_slam/launch/2d_slam.launch
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@ -2,7 +2,7 @@
<!--SPARK技术讨论与反馈群：8346256--> <!--SPARK技术讨论与反馈群：8346256-->
<launch> <launch>
<!-- Arguments --> <!-- Arguments -->
<arg name="camera_types" default="astrapro"/> <arg name="camera_type_tel" default="astrapro"/>
<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
<arg name="configuration_basename" default="spark_lds_2d.lua"/> <arg name="configuration_basename" default="spark_lds_2d.lua"/>
<arg name="open_rviz" default="true"/> <arg name="open_rviz" default="true"/>
@ -10,7 +10,7 @@
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="start_camera" value="true"/> <arg name="start_camera" value="true"/>
<arg name="camera_types" value="$(arg camera_types)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/> <arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
</include> </include>
@ -28,10 +28,10 @@
<!-- rviz --> <!-- rviz -->
<group if="$(arg open_rviz)"> <group if="$(arg open_rviz)">
<group if="$(eval arg('camera_types')=='d435')"> <group if="$(eval arg('camera_type_tel')=='d435')">
<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods)_d435.rviz"/> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods)_d435.rviz"/>
</group> </group>
<group unless="$(eval arg('camera_types')=='d435')"> <group unless="$(eval arg('camera_type_tel')=='d435')">
<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods).rviz"/> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods).rviz"/>
</group> </group>
</group> </group>

2
src/spark_app/spark_slam/launch/2d_slam_teleop.launch
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@ -7,7 +7,7 @@
<arg name="camera_type_tel" default="astrapro"/> <arg name="camera_type_tel" default="astrapro"/>
<include file="$(find spark_slam)/launch/2d_slam.launch"> <include file="$(find spark_slam)/launch/2d_slam.launch">
<arg name="slam_methods" value="$(arg slam_methods_tel)"/> <arg name="slam_methods" value="$(arg slam_methods_tel)"/>
<arg name="camera_types" value="$(arg camera_type_tel)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/> <arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
</include> </include>
<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”--> <!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->

10
src/spark_app/spark_slam/launch/depth_slam.launch
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@ -3,17 +3,17 @@
<launch> <launch>
<!-- Arguments --> <!-- Arguments -->
<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
<arg name="camera_types" default="astrapro" doc="camera type [astrapro, astra, d435]"/> <arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435]"/>
<arg name="configuration_basename" default="spark_lds_2d.lua"/> <arg name="configuration_basename" default="spark_lds_2d.lua"/>
<arg name="open_rviz" default="true"/> <arg name="open_rviz" default="true"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_types)"/> <arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
</include> </include>
<!-- Run the depthimage_to_laserscan node --> <!-- Run the depthimage_to_laserscan node -->
<include file="$(find camera_driver_transfer)/launch/$(arg camera_types)_p2s.launch"> <include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel)_p2s.launch">
</include> </include>
<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
@ -24,10 +24,10 @@
<!-- rviz --> <!-- rviz -->
<group if="$(arg open_rviz)"> <group if="$(arg open_rviz)">
<group if="$(eval arg('camera_types')=='d435')"> <group if="$(eval arg('camera_type_tel')=='d435')">
<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods)_d435.rviz"/> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods)_d435.rviz"/>
</group> </group>
<group unless="$(eval arg('camera_types')=='d435')"> <group unless="$(eval arg('camera_type_tel')=='d435')">
<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods).rviz"/> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods).rviz"/>
</group> </group>
</group> </group>

2
src/spark_app/spark_slam/launch/depth_slam_teleop.launch
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@ -5,7 +5,7 @@
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<include file="$(find spark_slam)/launch/depth_slam.launch"> <include file="$(find spark_slam)/launch/depth_slam.launch">
<arg name="slam_methods" value="$(arg slam_methods_tel)"/> <arg name="slam_methods" value="$(arg slam_methods_tel)"/>
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>
<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”--> <!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
<node pkg="spark_teleop" type="keyboard_control.sh" name="kc_depth" /> <node pkg="spark_teleop" type="keyboard_control.sh" name="kc_depth" />

2
src/spark_app/spark_voice/launch/baidu_nav.launch
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@ -4,7 +4,7 @@
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<!--spark底盘驱动，机器人描述,底盘,相机--> <!--spark底盘驱动，机器人描述,底盘,相机-->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>
<!--spark控制 ”--> <!--spark控制 ”-->
<node pkg="spark_voice" type="baidu_asr.py" name="baidu_bot" output="screen"/> <node pkg="spark_voice" type="baidu_asr.py" name="baidu_bot" output="screen"/>

2
src/spark_app/spark_voice/launch/voice_nav.launch
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@ -4,7 +4,7 @@
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<!--spark底盘驱动，机器人描述,底盘,相机--> <!--spark底盘驱动，机器人描述,底盘,相机-->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>
<!--spark键盘控制 “wsad”分别代表“前后左右”--> <!--spark键盘控制 “wsad”分别代表“前后左右”-->
<node pkg="spark_voice" type="local_asr.py" name="local_asr" output="screen"/> <node pkg="spark_voice" type="local_asr.py" name="local_asr" output="screen"/>

2
src/spark_app/spark_voice/launch/wx_nav.launch
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@ -4,7 +4,7 @@
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<!--spark底盘驱动，机器人描述,底盘,相机--> <!--spark底盘驱动，机器人描述,底盘,相机-->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>
<!--spark控制 ”--> <!--spark控制 ”-->
<node pkg="spark_voice" type="wx_bot.py" name="wx_bot" /> <node pkg="spark_voice" type="wx_bot.py" name="wx_bot" />

2
src/spark_app/spark_voice/launch/xf_nav.launch
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@ -4,7 +4,7 @@
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<!--spark底盘驱动，机器人描述,底盘,相机--> <!--spark底盘驱动，机器人描述,底盘,相机-->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" /> <arg name="camera_type_tel" value="$(arg camera_type_tel)" />
</include> </include>
<!--spark控制 ”--> <!--spark控制 ”-->
<node pkg="spark_voice" type="kdxf_asr.py" name="kdxf_bot" /> <node pkg="spark_voice" type="kdxf_asr.py" name="kdxf_bot" />