launch file tweaks

base_station/launch/image_test.launch

@@ -8,28 +8,11 @@
     <!-- load machine names, plath, neruda, and home versions -->
     <include file="$(find base_station)/launch/machines.launch"/>
 
-    <!-- <node name="waypointGenerator" pkg="database_tools" type="waypointGenerator.py">
-      <param name="pathType" type="string" value="spiral"/>
-      <param name="spiralRadius" type="double" value="1"/>
-      <param name="spiralLoops" type="double" value="2"/>
-      <param name="spiralHeight" type="double" value="1"/>
-      <param name="altitudeIncrement" type="double" value="0"/>
-      <param name="altitude" type="double" value="2"/>
-      <param name="droneNum" type="double" value="3"/>
-
-      <rosparam command="load" param="anchorPoint">
-        [37.227531, -80.406156]
-      </rosparam>
-      <rosparam command="load" param="pathPoints">
-        []
-      </rosparam>
-    </node> -->
-
     <!-- launch neruda vehicle nodes -->
     <include file="$(find base_station)/launch/remote_image_test.launch">
       <arg name="machine_name" value="nerudaKube"/>
       <arg name="machine_id" value="0"/>
-      <!-- <arg name="video_stream_provider" value="99"/> -->
+      <arg name="video_index" value="99"/>
     </include>
 
 </launch>

base_station/launch/remote_image_test.launch

@@ -3,11 +3,13 @@
 <arg name="machine_name"/>
 <!-- argument for machine id -->
 <arg name="machine_id"/>
+<!-- video stream index -->
+<arg name="video_index"/>
 
 <group ns="$(arg machine_name)">
 
   <!-- run viewer on base station laptop -->
-  <node name="imageNode" pkg="base_station" type="imageNode.py" machine="$(arg machine_name)">
+  <node name="imageNode" pkg="dji_osdk_ros" type="imageNode.py" machine="$(arg machine_name)">
     <param name="visualize" type="bool" value="false"/>
     <param name="save" type="bool" value="true"/>
     <!-- from home dir -->
@@ -19,7 +21,7 @@
 
 	<arg name="camera_name" default="usb_camera" />
 	<!-- video_stream_provider can be a number as a video device or a url of a video stream -->
-	<arg name="video_stream_provider" default="99" />
+	<arg name="video_stream_provider" default="$(arg video_index)" />
 	<!-- set camera fps to -->
 	<arg name="set_camera_fps" default="30" />
 	<!-- set buffer queue size of frame capturing to -->