simulation.launch

<?xml version="1.0"?>
<launch>
    <include file="$(find webots_fsai)/launch/simulation.launch" />
    
    <!--include file="$(find vision_fsai)/launch/haar.launch" /-->


    <node pkg="tf" type="static_transform_publisher" name="base_link_tf" 
        args="0 0 0.25 0 0 0 1 base_footprint base_link 100" />
     
    <node pkg="tf" type="static_transform_publisher" name="zedcam_tf" 
        args="0.39 0 0.96 0 0 0 1 base_link zed_center 100" />
    
    <node pkg="tf" type="static_transform_publisher" name="zedcam_left_tf" 
        args="0 -0.05 0 0 0 0 1 zed_center zed_left_camera 100" />

    <node pkg="webots_fsai" type="yaml_to_camera_info_publisher" name="camera_info"
        args="">
        <param name="filename" type="string" value="$(find webots_fsai)/calibration/zedcam_left_camera.yaml" />
        <remap from="/camera_info" to="/fsai/zedcam_left_camera/camera_info" />
        <remap from="/image" to="/fsai/zedcam_left_camera/image" />
    </node>




    <node pkg="nodelet" type="nodelet" args="standalone image_proc/crop_decimate" name="crop_img">
        <param name="x_offset" type="int" value="0" />
        <param name="y_offset" type="int" value="120" />
        <param name="width" type="int" value="1024" />
        <param name="height" type="int" value="684" />
        <!-- remap input topics -->
        <remap from="camera/image_raw" to="/fsai/zedcam_left_camera/image"/>
        <remap from="camera/image_info" to="/fsai/zedcam_left_camera/camera_info"/>
        <!-- remap output topics -->
        <remap from="camera_out/image_raw" to="camera_crop/image_rect_color"/>
        <remap from="camera_out/image_info" to="camera_crop/camera_info"/>
    </node>
</launch>