From 96b49d00a18198bf71fd7d8d5c749c82d5ff110f Mon Sep 17 00:00:00 2001
From: yul <yul@yu-li.eu>
Date: Mon, 5 Feb 2024 15:43:25 +0100
Subject: [PATCH] .

---
 src/tutorial_pkg/launch/follow_img.launch | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)
 create mode 100644 src/tutorial_pkg/launch/follow_img.launch

diff --git a/src/tutorial_pkg/launch/follow_img.launch b/src/tutorial_pkg/launch/follow_img.launch
new file mode 100644
index 0000000..786b793
--- /dev/null
+++ b/src/tutorial_pkg/launch/follow_img.launch
@@ -0,0 +1,20 @@
+<launch>
+    <!-- Node for following image -->
+    <node name="follow_img" pkg="tutorial_pkg" type="follow_img_node" output="screen">
+        <param name="object_to_follow" value="3" />
+        <param name="camera_width" value="640" />
+        <param name="min_ang_vel" value="0.15" />
+        <param name="max_ang_vel" value="0.5" />
+        <param name="angular_gain" value="0.002" />
+        <param name="desired_dist" value="0.6" />
+        <param name="min_lin_vel" value="0.05" />
+        <param name="max_lin_vel" value="0.4" />
+        <param name="linear_gain" value="0.4" />
+    </node>
+
+    <!-- Node for teleoperation -->
+    <node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen"/>
+
+    <!-- Node for camera driver -->
+    <include file="$(find astra_camera)/launch/astra.launch"/>
+</launch>
\ No newline at end of file