Renaming wideangle rear camera

wild_visual_navigation_ros/launch/replay_launch.launch

@@ -4,6 +4,7 @@
   <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
   <arg name="rviz_config"       default="anymal_dodo.rviz" />
   <arg name="anymal_config"     default="/home/rschmid/RosBags/uetliberg/dodo_params.yaml" />
+  <arg name="reload_default_params"    value="False"/>
 
   <arg name="anymal_converter"  default="True"/>
   <arg name="anymal_rsl_launch" default="True"/>
@@ -14,8 +15,10 @@
   <arg name="uncompress_alphasense_cam3"     default="False"/>
   <arg name="uncompress_alphasense_cam4"     default="False"/>
   <arg name="uncompress_alphasense_cam5"     default="False"/>
-  <arg name="uncompress_wide_angle_front"     default="True"/>
-  <arg name="resize_images_wide_angle_front"     default="True"/>
+  <arg name="uncompress_wide_angle_front"     default="False"/>
+  <arg name="uncompress_wide_angle_rear"     default="True"/>
+  <arg name="resize_images_wide_angle_front"     default="False"/>
+  <arg name="resize_images_wide_angle_rear"     default="True"/>
 
 
   <!-- Set sim time to true -->
@@ -76,8 +79,11 @@
   <node if="$(arg uncompress_alphasense_cam4)" name="uncompress_cam4" pkg="image_transport" type="republish" args="compressed in:=/alphasense_driver_ros/cam4/debayered raw out:=/alphasense_driver_ros/cam4/debayered" />
   <node if="$(arg uncompress_alphasense_cam5)" name="uncompress_cam5" pkg="image_transport" type="republish" args="compressed in:=/alphasense_driver_ros/cam5/debayered raw out:=/alphasense_driver_ros/cam5/debayered" />
 
-  <node if="$(arg uncompress_wide_angle_front)" name="uncompress_wide_angle_front" pkg="image_transport" type="republish" args="compressed in:=/wide_angle_camera_rear/image_color_rect raw out:=/wide_angle_camera_rear/image_color" />
+  <node if="$(arg uncompress_wide_angle_front)" name="uncompress_wide_angle_front" pkg="image_transport" type="republish" args="compressed in:=/wide_angle_camera_front/image_color_rect raw out:=/wide_angle_camera_front/image_color" />
   <include if="$(arg resize_images_wide_angle_front)" file="$(find wild_visual_navigation_ros)/launch/resize_images_wide_angle_front.launch"/>
 
+  <node if="$(arg uncompress_wide_angle_rear)" name="uncompress_wide_angle_rear" pkg="image_transport" type="republish" args="compressed in:=/wide_angle_camera_rear/image_color_rect raw out:=/wide_angle_camera_rear/image_color" />
+  <include if="$(arg resize_images_wide_angle_rear)" file="$(find wild_visual_navigation_ros)/launch/resize_images_wide_angle_rear.launch"/>
+
 
 </launch>

wild_visual_navigation_ros/launch/resize_images_wide_angle_front.launch

@@ -2,10 +2,10 @@
   <!-- Launch the image_proc nodelet -->
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet_wide_angle_front" args="manager"/>
   <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_wide_angle_front" args="load image_proc/resize standalone_nodelet_wide_angle_front">
-    <remap from="camera_info" to="/wide_angle_camera_rear/camera_info" />
-    <remap from="~camera_info" to="/wide_angle_camera_rear_resize/camera_info" />
-    <remap from="image" to="/wide_angle_camera_rear/image_color" />
-    <remap from="~image" to="/wide_angle_camera_rear/image_color_resize" />
+    <remap from="camera_info" to="/wide_angle_camera_front/camera_info" />
+    <remap from="~camera_info" to="/wide_angle_camera_front_resize/camera_info" />
+    <remap from="image" to="/wide_angle_camera_front/image_color" />
+    <remap from="~image" to="/wide_angle_camera_front/image_color_resize" />
     <param name="scale_width" value="0.2074077" />
     <param name="scale_height" value="0.2074077" />
   </node>

wild_visual_navigation_ros/launch/resize_images_wide_angle_rear.launch

@@ -0,0 +1,14 @@
+<launch>
+  <!-- Launch the image_proc nodelet -->
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet_wide_angle_rear" args="manager"/>
+  <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_wide_angle_rear" args="load image_proc/resize standalone_nodelet_wide_angle_rear">
+    <remap from="camera_info" to="/wide_angle_camera_rear/camera_info" />
+    <remap from="~camera_info" to="/wide_angle_camera_rear_resize/camera_info" />
+    <remap from="image" to="/wide_angle_camera_rear/image_color" />
+    <remap from="~image" to="/wide_angle_camera_rear/image_color_resize" />
+    <param name="scale_width" value="0.2074077" />
+    <param name="scale_height" value="0.2074077" />
+  </node>
+  <node name="dynparam_width_wide_angle_rear" pkg="dynamic_reconfigure" type="dynparam" args="set /image_proc_nodelet_wide_angle_rear scale_width 0.2074077" />
+  <node name="dynparam_height_wide_angle_rear" pkg="dynamic_reconfigure" type="dynparam" args="set /image_proc_nodelet_wide_angle_rear scale_height 0.2074077" />
+</launch>

wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py

@@ -412,10 +412,10 @@ def load_model(self):
         wvn_path = rospack.get_path("wild_visual_navigation_ros")
         os.system(f"rosparam load {wvn_path}/config/wild_visual_navigation/default.yaml wvn_feature_extractor_node")
         os.system(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_feature_extractor_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_rear_compressed.yaml wvn_feature_extractor_node"
         )
         print(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_feature_extractor_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_rear_compressed.yaml wvn_feature_extractor_node"
         )
     wvn = WvnFeatureExtractor()
     rospy.spin()

wild_visual_navigation_ros/scripts/wvn_learning_node.py

@@ -875,7 +875,7 @@ def visualize_image_overlay(self):
         wvn_path = rospack.get_path("wild_visual_navigation_ros")
         os.system(f"rosparam load {wvn_path}/config/wild_visual_navigation/default.yaml wvn_learning_node")
         os.system(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_learning_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_rear_compressed.yaml wvn_learning_node"
         )
 
     wvn = WvnLearning()