<commit_before><?xml version="1.0" encoding="UTF-8"?>
<launch>
	<env name="GAZEBO_MODEL_PATH" value='$(find crob_gazebo_models)/models:$(optenv GAZEBO_MODEL_PATH "")' />
	<arg name="use_gazebo_gui" default="false" />
	<arg name="world_folder" default="$(find gazebo_projection_mapping)/worlds/" />
	<arg name="world_name" default="demo_robotica_2015.world" />
	<arg name="show_image" default="true" />
	<arg name="correct_lens_distortion" default="false" />
	<arg name="camera_image_topic" default="image_rect_color" if="$(arg correct_lens_distortion)" />
	<arg name="camera_image_topic" default="image_raw" unless="$(arg correct_lens_distortion)" />
	
	<include file="$(find gazebo_ros)/launch/empty_world.launch">
		<arg name="world_name" default="$(arg world_folder)$(arg world_name)" />
		<arg name="paused" default="false" />
		<arg name="use_sim_time" default="false" />
		<arg name="remap_clock" default="true"/>
		<arg name="gui" default="$(arg use_gazebo_gui)" />
		<arg name="headless" default="false" /> <!-- disables any function calls to simulator rendering (Ogre) components -->
		<arg name="debug" default="false" />
	</include>


	<node ns="virtual_camera" pkg="image_proc" type="image_proc" name="image_proc" if="$(arg correct_lens_distortion)" />

	<node pkg="image_view" type="image_view" name="image_view" if="$(arg show_image)">
		<param name="autosize" type="bool" value="false" />
		<param name="filename_format" type="str" value="frame%04i.png" />
		<remap from="image" to="virtual_camera/$(arg camera_image_topic)" />
	</node>
	<node pkg="gazebo_projection_mapping" type="fullscreen_camera.bash" name="fullscreen_camera" args="image_view /virtual_camera/$(arg camera_image_topic)" if="$(arg show_image)" output="screen" />

	<node pkg="gazebo_projection_mapping" type="gpm_tf_to_link_state_node" name="gpm_tf_to_link_state_node_projector">
		<param name="gazebo_link_name" type="str" value="projector_link" /><commit_msg>Added option to specify additional paths for gazebo models and resources.<commit_after><?xml version="1.0" encoding="UTF-8"?>
<launch>
	<arg name="additional_gazebo_resource_paths" default="" />
	<arg name="additional_gazebo_model_paths" default="$(find crob_gazebo_models)/models" />
	<env name="GAZEBO_RESOURCE_PATH" value='$(arg additional_gazebo_resource_paths):$(optenv GAZEBO_RESOURCE_PATH "")' />
	<env name="GAZEBO_MODEL_PATH" value='$(arg additional_gazebo_model_paths):$(optenv GAZEBO_MODEL_PATH "")' />
	<arg name="use_gazebo_gui" default="false" />
	<arg name="world_folder" default="$(find gazebo_projection_mapping)/worlds/" />
	<arg name="world_name" default="demo_robotica_2015.world" />
	<arg name="show_image" default="true" />
	<arg name="correct_lens_distortion" default="false" />
	<arg name="camera_image_topic" default="image_rect_color" if="$(arg correct_lens_distortion)" />
	<arg name="camera_image_topic" default="image_raw" unless="$(arg correct_lens_distortion)" />
	
	<include file="$(find gazebo_ros)/launch/empty_world.launch">
		<arg name="world_name" default="$(arg world_folder)$(arg world_name)" />
		<arg name="paused" default="false" />
		<arg name="use_sim_time" default="false" />
		<arg name="remap_clock" default="true"/>
		<arg name="gui" default="$(arg use_gazebo_gui)" />
		<arg name="headless" default="false" /> <!-- disables any function calls to simulator rendering (Ogre) components -->
		<arg name="debug" default="false" />
	</include>


	<node ns="virtual_camera" pkg="image_proc" type="image_proc" name="image_proc" if="$(arg correct_lens_distortion)" />

	<node pkg="image_view" type="image_view" name="image_view" if="$(arg show_image)">
		<param name="autosize" type="bool" value="false" />
		<param name="filename_format" type="str" value="frame%04i.png" />
		<remap from="image" to="virtual_camera/$(arg camera_image_topic)" />
	</node>
	<node pkg="gazebo_projection_mapping" type="fullscreen_camera.bash" name="fullscreen_camera" args="image_view /virtual_camera/$(arg camera_image_topic)" if="$(arg show_image)" output="screen" />

	<node pkg="gazebo_projection_mapping" type="gpm_tf_to_link_state_node" name="gpm_tf_to_link_state_node_projector">
		<param name="gazebo_link_name" type="str" value="projector_link" />
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