Add optical frame publisher

Signed-off-by: Michael Carroll <michael@openrobotics.org>
osrf · Jun 19, 2020 · df1d58d · df1d58d
1 parent dd934d2
commit df1d58d
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/submitted_models/cerberus_m100_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/cerberus_m100_sensor_config_1/launch/vehicle_topics.launch
@@ -127,6 +127,16 @@
         args="$(arg sensor_prefix)/camera_front/image">
         <remap from="$(arg sensor_prefix)/camera_front/image" to="front/image_raw"/>
       </node>
+
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher">
+        <remap from="input/image" to="front/image_raw" />
+        <remap from="output/image" to="front/optical/image_raw" />
+        <remap from="input/camera_info" to="front/camera_info" />
+        <remap from="output/camera_info" to="front/optical/camera_info" />
+      </node>
     </group>
 
     <!-- laser scan -->