From a40587275cf0475c595eb057c56e560fc06ab2b2 Mon Sep 17 00:00:00 2001
From: Fujun Ruan <85526629+Flowerst-0416@users.noreply.github.com>
Date: Thu, 1 Dec 2022 18:52:02 -0500
Subject: [PATCH] install update

---
 install                                          |  9 +++++----
 multi_calibration/launch/auto_calibration.launch | 10 +++++++++-
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/install b/install
index c59f9b8..93c91cf 100644
--- a/install
+++ b/install
@@ -77,8 +77,9 @@ echo 'echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb' | sudo tee -a /et
 # if file /etc/rc.local does not exist
 printf '%s\n' '#!/bin/bash' 'echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb' | sudo tee /etc/rc.local; sudo chmod +x /etc/rc.local
 
-mkdir $HOME/Calibration_ws/intrinsic
-mkdir $HOME/Calibration_ws/intrinsic_rect
-mkdir $HOME/Calibration_ws/laser_calib
+mkdir $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/intrinsic
+mkdir $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/intrinsic_rect
+mkdir $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/laser
+
+cp $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/cfg/laser_calib.yaml $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/laser/laser_calib.yaml
 
-cp $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/cfg/laser_calib.yaml $HOME/Calibration_ws/laser_calib/laser_calib.yaml
diff --git a/multi_calibration/launch/auto_calibration.launch b/multi_calibration/launch/auto_calibration.launch
index fe9482c..b5dd986 100644
--- a/multi_calibration/launch/auto_calibration.launch
+++ b/multi_calibration/launch/auto_calibration.launch
@@ -1,5 +1,6 @@
 <launch>
-    <arg name="directory" default="$(dirname)/.."/>
+    <!-- <arg name="directory" default="$(dirname)/.."/> -->
+   
 
     <arg name="camera_intrinsic" default="0"/>
 
@@ -9,6 +10,7 @@
     <arg name="laser_cam" default="0"/>
 
     <group if="$(eval arg('camera_intrinsic') == 1)">
+        <arg name="directory" default="$(find multi_calibration)/intrinsic"/>
         <node name="trajectory_planner_node" pkg="multi_calibration" type="trajectory_planner_node" output="screen" args = "0"/> 
         <node name="image_saving_node" pkg="multi_calibration" type="image_saving_node" output="screen" args="$(arg directory)"/>
         <rosparam file="$(dirname)/../cfg/trajectory_planner.yaml"/> 
@@ -18,6 +20,7 @@
     </group>
 
     <group if="$(eval arg('camera_rect_intrinsic') == 1)">
+        <arg name="directory" default="$(find multi_calibration)/intrinsic_rect"/>
         <node name="trajectory_planner_node" pkg="multi_calibration" type="trajectory_planner_node" output="screen" args = "0)"/> 
         <node name="image_saving_node" pkg="multi_calibration" type="image_saving_node" output="screen" args="$(arg directory)"/>
         <node name="image_rect_node" pkg="multi_calibration" type="image_rect_node" output="screen" args="$(find multi_calibration)/cfg/ximea_80_calib.yaml" />
@@ -35,7 +38,12 @@
     </group>
 
     <group if="$(eval arg('laser_cam') == 1)">
+        <arg name="directory" default="$(find multi_calibration)/laser"/>
+        <node name="trajectory_planner_node" pkg="multi_calibration" type="trajectory_planner_node" output="screen" args = "0"/> 
         <node name="image_saving_node" pkg="multi_calibration" type="image_saving_node" output="screen" args="$(arg directory)"/>
+        <node name="image_rect_node" pkg="multi_calibration" type="image_rect_node" output="screen" args="$(find multi_calibration)/cfg/ximea_80_calib.yaml" />
+        <rosparam file="$(dirname)/../cfg/trajectory_planner.yaml"/> 
+        <rosparam file="$(dirname)/../cfg/calib_params.yaml"/> 
         <rosparam>
             cameraTopic: "/blaser_cam/image_rect_color"
         </rosparam>