baxter_sw.launch

<launch>
	
    <!-- Open baxter's right hand camera and set the required resolution -->

<node pkg="baxter_tools" type="enable_robot.py" name="enable_robot" args="-e" />

	<node pkg="baxter_tools" type="camera_control.py" name="open_left_camera" output="screen"  args="-o left_hand_camera -r 1280x800" />


	<arg name="marker_size" default="6.9" />
	<arg name="max_new_marker_error" default="0.08" />
	<arg name="max_track_error" default="0.2" />
	<arg name="cam_image_topic" default="/cameras/left_hand_camera/image" />
	<arg name="cam_info_topic" default="/cameras/left_hand_camera/camera_info" />
	<arg name="output_frame" default="/base" />

<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
	<param name="marker_size"           type="double" value="$(arg marker_size)" />
	<param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
	<param name="max_track_error"       type="double" value="$(arg max_track_error)" />
	<param name="output_frame"          type="string" value="$(arg output_frame)" />

	<remap from="camera_image"  to="$(arg cam_image_topic)" />
	<remap from="camera_info"   to="$(arg cam_info_topic)" />
	</node>
	
	 <node name="ar_info" pkg="starbax" type="artransforms.py"> </node>
	
	<node name="initial" pkg="starbax" type="starbax_sw.py">  </node> 

    <node name="table_cam" pkg="starbax" type="table_cam_update.py"> </node>
    
    <node name="pick_and_place" pkg="starbax" type="movement.py"> </node>
    
	<node name="pose_item" pkg="starbax" type="pose_and_item.py"> </node>
    
    <node name="closer_node" pkg="starbax" type="close_service.py"> </node>
    
    <node name="opener_node" pkg="starbax" type="open_service.py"> </node>


</launch>