From 541f0811e779e187edba08e4fabff9592e2b720c Mon Sep 17 00:00:00 2001
From: yul <yul@yu-li.eu>
Date: Mon, 5 Feb 2024 07:20:35 +0100
Subject: [PATCH] .

---
 .../launch/image_recognition.launch           | 30 +++++++++++++++++++
 1 file changed, 30 insertions(+)
 create mode 100644 src/tutorial_pkg/launch/image_recognition.launch

diff --git a/src/tutorial_pkg/launch/image_recognition.launch b/src/tutorial_pkg/launch/image_recognition.launch
new file mode 100644
index 0000000..ef50be2
--- /dev/null
+++ b/src/tutorial_pkg/launch/image_recognition.launch
@@ -0,0 +1,30 @@
+<launch>
+
+    <arg name="use_gazebo" default="false" />
+    <arg name="teach" default="false"/>
+
+    <!-- Gazebo -->
+    <group if="$(arg use_gazebo)">
+        <param name="use_sim_time" value="true" />
+        <include file="$(find rosbot_bringup)/launch/rosbot_tutorial.launch">
+            <arg if="$(arg teach)" name="world" value="image_teaching"/>
+            <arg unless="$(arg teach)" name="world" value="image_recognition"/>
+        </include>
+    </group>
+
+    <!-- ROSbot -->
+    <group unless="$(arg use_gazebo)">
+        <include file="$(find astra_camera)/launch/astra.launch"/>
+    </group>
+
+    <!-- Teleoperation - keyboard control -->
+    <node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen"/>
+
+    <!-- Object detection -->
+    <node pkg="find_object_2d" type="find_object_2d" name="find_object_2d">
+        <remap from="image" to="/camera/rgb/image_raw"/>
+        <param name="gui" value="$(arg teach)"/>
+        <param unless="$(arg teach)" name="objects_path" value="$(find tutorial_pkg)/img_data/"/>
+    </node>
+
+</launch>
\ No newline at end of file