From b6570e5f6dad6bfa2251a759aa00ef8235d5be2b Mon Sep 17 00:00:00 2001 From: goatfanboi23 Date: Sat, 13 Apr 2024 00:21:59 -0400 Subject: [PATCH 1/2] make image proc only rectify. This will hopefully eliminate the timestamp error (inherent bug in image transport which image_proc uses) --- src/redshift_odometry/launch/arducam_launch.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/redshift_odometry/launch/arducam_launch.py b/src/redshift_odometry/launch/arducam_launch.py index 7c852ea..863d432 100644 --- a/src/redshift_odometry/launch/arducam_launch.py +++ b/src/redshift_odometry/launch/arducam_launch.py @@ -25,8 +25,11 @@ def generate_launch_description(): image_proc_node = Node( package='image_proc', - executable='image_proc', + executable='rectify_node', name='rectify', + parameters = [ + {'queue_size': 10} + ] ) apriltag_node = Node( From f4c3d3fd78816ba2d495ae190c14bceec98909e0 Mon Sep 17 00:00:00 2001 From: goatfanboi23 Date: Sat, 13 Apr 2024 00:23:14 -0400 Subject: [PATCH 2/2] added url doc link --- src/redshift_odometry/launch/arducam_launch.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/redshift_odometry/launch/arducam_launch.py b/src/redshift_odometry/launch/arducam_launch.py index 863d432..7446a7e 100644 --- a/src/redshift_odometry/launch/arducam_launch.py +++ b/src/redshift_odometry/launch/arducam_launch.py @@ -22,7 +22,8 @@ def generate_launch_description(): ], name='cam_driver', ) - + +# https://docs.ros.org/en/rolling/p/image_proc/components.html#image-proc-rectifynode image_proc_node = Node( package='image_proc', executable='rectify_node',