Provide launch file for rosbag replay

Author: Tobias-Fischer

rt_gene/README.md

@@ -71,9 +71,8 @@ More information can be found on the Personal Robotic Lab's website: <https://ww
 
 ### Estimate gaze from ROSBag
 1) `roscore`
-1) `rosbag play --clock /path/to/rosbag.bag`
-1) `rosrun image_transport republish compressed in:=/kinect2/hd/image_color_rect raw out:=/kinect2/hd/image_color_rect`
-1) `roslaunch rt_gene estimate_gaze.launch`
+1) `roslaunch rt_gene start_rosbag.launch rosbag_file:=/path/to/rosbag.bag` (this assumes a recording with the Kinect v2 and might need adjustments)
+1) `roslaunch rt_gene estimate_gaze.launch ros_frame:=kinect2_nonrotated_link`
 
 ## List of libraries
 - ROS; [BSD 3-clause](https://opensource.org/licenses/BSD-3-Clause), [Link to website](http://ros.org/)

rt_gene/launch/start_rosbag.launch

@@ -0,0 +1,7 @@
+<launch>
+  <arg name="rosbag_file" />
+  <node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/kinect2/hd/image_color_rect raw out:=/kinect2/hd/image_color" />
+
+  <node pkg="rosbag" type="play" name="player" args="--clock $(arg rosbag_file)" output="screen" />
+</launch>
+

rt_gene/launch/start_video.launch

@@ -1,10 +1,10 @@
 <launch>
-    <arg name="video_namespace" default="/kinect2/hd"/>
-    <arg name="video_image_topic" default="image_color"/>
-    <arg name="video_info_topic" default="camera_info"/>
-    <arg name="camera_name" default="kinect2"/>
-    <arg name="video_file" default="/home/tobias/video.mov"/>
-    <arg name="camera_info_url" default="file:///home/tobias/kinect2.yaml"/>
+    <arg name="video_namespace" default="/kinect2/hd" />
+    <arg name="video_image_topic" default="image_color" />
+    <arg name="video_info_topic" default="camera_info" />
+    <arg name="camera_name" default="kinect2" />
+    <arg name="video_file" default="/home/tobias/video.mov" />
+    <arg name="camera_info_url" default="file:///home/tobias/kinect2.yaml" />
 
     <node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream" output="screen">
         <remap from="camera" to="$(arg video_namespace)/$(arg video_image_topic)" />

rt_gene/launch/start_webcam.launch

@@ -2,13 +2,13 @@
   <arg name="camera_port" default="/dev/video0" />
   <arg name="camera_info_name" default="webcam_blue_26010230.yaml" />
 
-  <arg name="video_namespace" default="/kinect2/hd"/>
-  <arg name="video_image_topic" default="image_color"/>
-  <arg name="video_info_topic" default="camera_info"/>
+  <arg name="video_namespace" default="/kinect2/hd" />
+  <arg name="video_image_topic" default="image_color" />
+  <arg name="video_info_topic" default="camera_info" />
 
-  <arg name="rgb_frame_id" default="/kinect2_link"/>
-  <arg name="rgb_frame_id_ros" default="/kinect2_ros_frame"/>
-  <arg name="publish_ros_static_frame" default="True"/>
+  <arg name="rgb_frame_id" default="/kinect2_link" />
+  <arg name="rgb_frame_id_ros" default="/kinect2_ros_frame" />
+  <arg name="publish_ros_static_frame" default="True" />
 
   <node pkg="tf2_ros" type="static_transform_publisher" name="ros_static_transform_publisher"
             args="0.0 0.0 0.0 -0.5 0.5 -0.5 0.5 $(arg rgb_frame_id_ros) $(arg rgb_frame_id)" if="$(arg publish_ros_static_frame)" />