<launch>
<arg name="launch_prefix" default="" /> <!-- set to value="gdbserver localhost:10000" for remote debugging -->
<remap from="tf" to="tf1" />
<arg name="node_namespace1" default="apriltag_ros_continuous_node1" />
<arg name="camera_name1" default="/esp32cam" />
<arg name="camera_frame1" default="camera" />
<arg name="image_topic1" default="image" />
<rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace1)" />
<rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml" ns="$(arg node_namespace1)" />
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace1)" clear_params="true" output="scre$
<remap from="image_rect" to="$(arg camera_name1)/$(arg image_topic1)" />
<remap from="camera_info" to="$(arg camera_name1)/camera_info1" />
<param name="camera_frame" type="str" value="$(arg camera_frame1)" />
<param name="publish_tag_detections_image" type="bool" value="true" />
</node>
<remap from="tf" to="tf2" />
<arg name="node_namespace2" default="apriltag_ros_continuous_node2" />
<arg name="camera_name2" default="/S5" />
<arg name="camera_frame2" default="camera" />
<arg name="image_topic2" default="image_raw" />
<rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace2)" />
<rosparam c<launch>
<arg name="launch_prefix" default="" /> <!-- set to value="gdbserver localhost:10000" for remote debugging -->
<remap from="tf" to="tf1" />
<arg name="node_namespace1" default="apriltag_ros_continuous_node1" />
<arg name="camera_name1" default="/esp32cam" />
<arg name="camera_frame1" default="camera" />
<arg name="image_topic1" default="image" />
<rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace1)" />
<rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml" ns="$(arg node_namespace1)" />
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace1)" clear_params="true" output="scre$
<remap from="image_rect" to="$(arg camera_name1)/$(arg image_topic1)" />
<remap from="camera_info" to="$(arg camera_name1)/camera_info1" />
<param name="camera_frame" type="str" value="$(arg camera_frame1)" />
<param name="publish_tag_detections_image" type="bool" value="true" />
</node>
<remap from="tf" to="tf2" />
<arg name="node_namespace2" default="apriltag_ros_continuous_node2" />
<arg name="camera_name2" default="/S5" />
<arg name="camera_frame2" default="camera" />
<arg name="image_topic2" default="image_raw" />
<rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace2)" />
<rosparam command="load" file="$(find apriltag_ros)/config/tags.yaml" ns="$(arg node_namespace2)" />
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace2)" clear_params="true" output="scre$
<remap from="image_rect" to="$(arg camera_name2)/$(arg image_topic2)" />
<remap from="camera_info" to="$(arg camera_name2)/camera_info2" />
<param name="camera_frame" type="str" value="$(arg camera_frame2)" />
<param name="publish_tag_detections_image" type="bool" value="true" />
</node>
</launch>
ommand="load" file="$(find apriltag_ros)/config/tags.yaml" ns="$(arg node_namespace2)" />
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace2)" clear_params="true" output="scre$
<remap from="image_rect" to="$(arg camera_name2)/$(arg image_topic2)" />
<remap from="camera_info" to="$(arg camera_name2)/camera_info2" />
<param name="camera_frame" type="str" value="$(arg camera_frame2)" />
<param name="publish_tag_detections_image" type="bool" value="true" />
</node>
</launch>