Move camera bringup arguments to singleview_loop.launch

launch/singleview_loop.launch

@@ -10,19 +10,24 @@
 
   <arg name="allow_tracking" default="false"/>
 
-  <!-- Start service and camera -->
+  <!-- Start camera -->
+  <group if="$(arg bringup_camera)">
+    <include file="$(find ros_cosypose)/launch/cameras_bringup.launch">
+        <arg name="usbcam_ids" value="$(arg camera_id)"/>
+    </include>
+    <!-- Rectify image -->
+    <node name="$(anon image_proc)" pkg="image_proc" type="image_proc" ns="$(arg camera_name)"/>
+  </group>
+
+  <!-- Start service -->
   <include file="$(find ros_cosypose)/launch/singleview_service.launch">
     <arg name="dataset" value="$(arg dataset)"/>
     <arg name="detection_threshold" value="$(arg detection_threshold)"/>
     <arg name="debug" value="$(arg debug)"/>
     <arg name="debug_models" value="$(arg debug_models)"/>
-
-    <arg name="camera_id" value="$(arg camera_id)"/>
-    <arg name="camera_name" value="$(arg camera_name)"/>
-    <arg name="bringup_camera" value="$(arg bringup_camera)"/>
   </include>
 
-  <!-- call ros_cosypose in loop and publish on topics -->
+  <!-- call service in loop and publish on topics -->
   <node name="pose_estimation_loop" pkg="ros_cosypose" type="pose_estimation_loop.py">
     <param name="camera_name" value="$(arg camera_name)"/>
     <param name="allow_tracking" value="$(arg allow_tracking)"/>

launch/singleview_service.launch

@@ -4,20 +4,6 @@
     <arg name="debug" default="false"/>
     <arg name="debug_models" default="bop_datasets/$(arg dataset)/models/"/> <!-- Relative path from cosypose local_data directory -->
 
-    <arg name="camera_id" default="0" />
-    <arg name="camera_name" default="usb_cam_$(arg camera_id)"/>
-    <arg name="bringup_camera" default="true"/>
-
-
-    <!-- Start camera -->
-    <group if="$(arg bringup_camera)">
-      <include file="$(find ros_cosypose)/launch/cameras_bringup.launch">
-          <arg name="usbcam_ids" value="$(arg camera_id)"/>
-      </include>
-      <!-- Rectify image -->
-      <node name="$(anon image_proc)" pkg="image_proc" type="image_proc" ns="$(arg camera_name)"/>
-    </group>
-
     <!-- ros_cosypose service -->
     <node name="pose_estimation" pkg="ros_cosypose" type="pose_estimation.py">
       <param name="dataset" value="$(arg dataset)"/>