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

  <!-- traffic_light detection -->
  <node pkg="turtlebot3_autorace_detect" type="detect_traffic_light" name="detect_traffic_light" output="screen">
    <rosparam command="load" file="$(find turtlebot3_autorace_detect)/param/traffic_light/traffic_light.yaml" />
    <param if="$(eval mode == 'calibration')" name="/is_detection_calibration_mode" value="True"/>
    <param if="$(eval mode == 'action')" name="/is_detection_calibration_mode" value="True"/>     
    <remap from="/detect/image_input" to="/camera/image_color" />
    <remap from="/detect/image_input/compressed" to="/camera/image_color/compressed" />
    <remap from="/detect/image_output" to="/detect/image_traffic_light" />
    <remap from="/detect/image_output/compressed" to="/detect/image_traffic_light/compressed" />
    <remap from="/detect/image_output_sub1" to="/detect/image_red_light" />
    <remap from="/detect/image_output_sub1/compressed" to="/detect/image_red_light/compressed" />
    <remap from="/detect/image_output_sub2" to="/detect/image_yellow_light" />
    <remap from="/detect/image_output_sub2/compressed" to="/detect/image_yellow_light/compressed" />
    <remap from="/detect/image_output_sub3" to="/detect/image_green_light" />
    <remap from="/detect/image_output_sub3/compressed" to="/detect/image_green_light/compressed" />  
  </node>
</launch>