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nrp.launch
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nrp.launch
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<?xml version="1.0"?>
<launch>
<arg name="result_dir" value="cdp4" />
<param name="hook" command="mkdir -p $(arg result_dir)" />
<param name="tensorflow_path" value="$(env HOME)/.opt/tensorflow_venv/lib/python2.7/site-packages"/>
<param name="saliency_file" value="$(find embodied_attention)/model/model.ckpt"/>
<param name="network_input_width" value="256"/>
<param name="network_input_height" value="192"/>
<!-- <param name="robot_description" textfile="$(env NRP_MODELS_DIRECTORY)/hollie_robot/urdf/hollie.urdf" /> -->
<!-- <rosparam file="$(env NRP_MODELS_DIRECTORY)/hollie_robot/head_control.yaml" command="load" /> -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
<param name="use_tf_static" value="False" />
<param name="publish_frequency" value="1000.0" />
</node>
<node pkg="rosbag" type="record" name="recorder" output="screen" args="-O $(arg result_dir)/experiment.bag /rosout /clock /fov /saccade_target /saccade_potential_target /tilt /pan /roi /label /probe_results /status /robot/eye_tilt/pos /robot/left_eye_pan/pos /robot/right_eye_pan/pos /robot/neck_yaw/pos /robot/neck_pitch/pos /icub_model/left_eye_camera/image_raw /icub_model/left_eye_camera/image_info /icub_model/right_eye_camera/image_info"/>
<!--
<group ns="/hollie/camera">
<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc">
<param name="min_disparity" value="-16"/>
<param name="disparity_range" value="32"/>
<param name="approximate_sync" value="True"/>
<param name="queue_size" value="800"/>
</node>
</group>
-->
<!--
<node name="saliency" pkg="embodied_attention" type="saliency.py" output="screen">
<param name="clip" value="False"/>
<remap from="/rgb/image_raw" to="/hollie/camera/left/image_raw"/>
</node>
<node name="curiosity" pkg="embodied_attention" type="curiosity.py" output="screen"/>
<node name="saccade" pkg="embodied_attention" type="saccade.py" output="screen">
<remap from="/saliency_map" to="saliency_map_curiosity"/>
</node>
-->
<!-- node name="head_manager" pkg="embodied_attention" type="head_manager_tf.py" output="screen" -->
<node name="head_manager" pkg="embodied_attention" type="head_manager.py" output="screen">
<param name="saliency_width" value="256"/>
<param name="saliency_height" value="192"/>
<param name="move_head" value="True"/>
<param name="move_eyes" value="True"/>
<param name="shift" value="False"/>
<param name="recognize" value="False"/>
<param name="probe" value="False"/>
<remap from="eye_tilt" to="/robot/eye_tilt/pos"/>
<remap from="left_eye_pan" to="/robot/left_eye_pan/pos"/>
<remap from="right_eye_pan" to="/robot/right_eye_pan/pos"/>
<remap from="neck_yaw" to="/robot/neck_yaw/pos"/>
<remap from="neck_pitch" to="/robot/neck_pitch/pos"/>
<remap from="camera_left/image_raw" to="/icub_model/left_eye_camera/image_raw"/>
<remap from="camera_left/camera_info" to="/icub_model/left_eye_camera/camera_info"/>
<remap from="camera_right/camera_info" to="/icub_model/right_eye_camera/camera_info"/>
</node>
<node name="recognize" pkg="embodied_attention" type="recognize.py" output="screen">
<param name="model_path" value="$(env HOME)/.opt/models/research"/>
<param name="graph_path" value="$(env HOME)/.opt/graph_def/frozen_inference_graph.pb"/>
</node>
<node name="visual_memory_module" pkg="ros_holographic" type="visual_memory_module.py" output="screen"/>
<node name="visualizer" pkg="embodied_attention" type="visualizer.py" output="screen">
<remap from="/camera/image_raw" to="/icub_model/left_eye_camera/image_raw"/>
</node>
<node name="saver" pkg="image_view" type="image_saver" launch-prefix="$(env NRP_EXPERIMENTS_DIRECTORY)/CDP4_experiment/take_snap.sh">
<remap from="image" to="/icub_model/left_eye_camera/image_raw"/>
<param name="save_all_image" value="False"/>
<param name="filename_format" value="$(arg result_dir)/panorama.png"/>
</node>
</launch>