<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>