<commit_before><launch>

  <!-- Launch Kinect -->
	<include file="$(find perception3d)/launch/kinect.launch"></include> 
	
	<!-- Link Kinect to JACO -->
	<!--<node pkg="tf" type="static_transform_publisher" name="jaco_kinect" args="-0.60 0.385 0.54 0 0.30 0  arm_base camera_link 100" /> 
	<node pkg="tf" type="static_transform_publisher" name="jaco_kinect" args="-0.587 0.386 0.533 0 0.30 0  arm_base camera_link 100" /> -->
	<node pkg="tf" type="static_transform_publisher" name="jaco_kinect" args="-0.61 0.40 0.52 -0.02 0.299 0.01178  arm_base camera_link 100" />
	
	<!-- Link AR_TAG to joint_6 (useful when calibrating) -->
	<!-- Disable for moveit implementation  Will put it back later on
	<node pkg="tf" type="static_transform_publisher" name="ARtag" args="0 0.03 -0.06 0 0 0 jaco_joint_6 ARtag 100" />  -->
	
	<!-- Plane Segmentation   Disable for test purpose
  <node pkg="perception3d" type="segmentation" name="segmentation" respawn="false" output="screen">
    <param name="pcl_visualizer"  value="true" />
    <param name="topic_in" value="/camera/depth_registered/points" />
  </node> -->
  <!--
  <node pkg="perception3d" type="segmentation" name="segmentation" respawn="false" output="screen">
      <param name="pcl_visualizer"  value="true" />
      <param name="topic_in" value="/camera/depth_registered/points" />
      <param name="test" value="false" />
      <param name="file_path" value="/home/robot/rgbd-scenes-v2/pc/01.ply"/>
  </node> -->
	
	<!-- Euclidean Object Extraction 
  <node pkg="perception3d" type="objects_extraction" name="objects_extraction" respawn="false" output="screen">
    <param name="objects_visualizer"  value="true" />
  </node> -->
	
</launch>

<commit_msg>put back seg and perception<commit_after><launch>

  <!-- Launch Kinect -->
	<include file="$(find perception3d)/launch/kinect.launch"></include> 
	
	<!-- Link Kinect to JACO -->
	<!--<node pkg="tf" type="static_transform_publisher" name="jaco_kinect" args="-0.60 0.385 0.54 0 0.30 0  arm_base camera_link 100" /> 
	<node pkg="tf" type="static_transform_publisher" name="jaco_kinect" args="-0.587 0.386 0.533 0 0.30 0  arm_base camera_link 100" /> -->
	<node pkg="tf" type="static_transform_publisher" name="jaco_kinect" args="-0.61 0.40 0.52 -0.02 0.299 0.01178  arm_base camera_link 100" />
	
	<!-- Link AR_TAG to joint_6 (useful when calibrating) -->
	<!-- Disable for moveit implementation  Will put it back later on
	<node pkg="tf" type="static_transform_publisher" name="ARtag" args="0 0.03 -0.06 0 0 0 jaco_joint_6 ARtag 100" />  -->
	
	<!-- Plane Segmentation   Disable for test purpose -->
  <node pkg="perception3d" type="segmentation" name="segmentation" respawn="false" output="screen">
    <param name="pcl_visualizer"  value="true" />
    <param name="topic_in" value="/camera/depth_registered/points" />
  </node>
  <!--
  <node pkg="perception3d" type="segmentation" name="segmentation" respawn="false" output="screen">
      <param name="pcl_visualizer"  value="true" />
      <param name="topic_in" value="/camera/depth_registered/points" />
      <param name="test" value="false" />
      <param name="file_path" value="/home/robot/rgbd-scenes-v2/pc/01.ply"/>
  </node> -->
	
	<!-- Euclidean Object Extraction -->
  <node pkg="perception3d" type="objects_extraction" name="objects_extraction" respawn="false" output="screen">
    <param name="objects_visualizer"  value="true" />
  </node>
	
  <node pkg="perception3d" type="image_transport_node" name="image_transport_node" respawn="false" output="screen"/>
	
</launch>


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{'dir': 'git-commits-cleaned', 'id': '727501', 'n_tokens_mistral': 1385, 'n_tokens_neox': 1199, 'n_words': 272}