<launch> <!-- launch extrinsic_camera_calibration.launch before launch this file --> <arg name="mode" default="action" doc="mode type [calibration, action]"/> <!-- level crossing detection --> <node pkg="turtlebot3_autorace_detect" type="detect_level_crossing" name="detect_level_crossing" output="screen"> <rosparam command="load" file="$(find turtlebot3_autorace_detect)/param/level/level.yaml" /> <param if="$(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_compensated" /> <remap from="/detect/image_input/compressed" to="/camera/image_compensated/compressed" /> <remap from="/detect/image_output" to="/detect/image_level" /> <remap from="/detect/image_output/compressed" to="/detect/image_level/compressed" /> <remap from="/detect/image_output_sub1" to="/detect/image_level_color_filtered" /> <remap from="/detect/image_output_sub1/compressed" to="/detect/image_level_color_filtered/compressed" /> </node> </launch>