<launch>
  <!-- launch extrinsic_camera_calibration.launch before launch this file -->
  <arg name="mode" default="action" doc="mode type [calibration, action]"/>

  <!-- lane detection -->
  <node pkg="turtlebot3_autorace_detect" type="detect_lane" name="detect_lane" output="screen">
    <rosparam command="load" file="$(find turtlebot3_autorace_detect)/param/lane/lane.yaml" />
    <param if="$(eval mode == 'calibration')" name="/is_detection_calibration_mode" value="True"/>
    <param if="$(eval mode == 'action')" name="/is_detection_calibration_mode" value="False"/>    
    <remap from="/detect/image_input" to="/camera/image_projected_compensated" />
    <remap from="/detect/image_input/compressed" to="/camera/image_projected_compensated/compressed" />
    <remap from="/detect/image_output" to="/detect/image_lane" />
    <remap from="/detect/image_output/compressed" to="/detect/image_lane/compressed" />
    <remap from="/detect/image_output_sub1" to="/detect/image_white_lane_marker" />
    <remap from="/detect/image_output_sub1/compressed" to="/detect/image_white_lane_marker/compressed" />
    <remap from="/detect/image_output_sub2" to="/detect/image_yellow_lane_marker" />
    <remap from="/detect/image_output_sub2/compressed" to="/detect/image_yellow_lane_marker/compressed" />    
  </node>
</launch>