Feat/config cameras

[manoelasedrez]

No description provided.

[gadorneles]

In relation to the other PR. The launchfile needs to call different configs based on which camera in being launched. Right now it uses the same config file for any camera. It should change the config file for one of these depending on which argument is being set as true.

[gadorneles]

These names should be standardized in both cameras. I would include the name of the camera like you're doing in /fbot_vision/realsense/color/camera_info but I'd do it for every other one.

So:

Suggested change

	services:
	object_recognition:
	start: /fbot_vision/yolo/object_start
	stop: /fbot_vision/yolo/object_stop
	subscribers:
	slop: 0.2
	qos_profile: 10
	image_rgb: /fbot_vision/realsense/color/image_raw
	camera_info: /fbot_vision/realsense/color/camera_info
	image_depth: /fbot_vision/realsense/aligned_depth_to_color/image_raw
	publishers:
	object_recognition:
	topic: /fbot_vision/yolo/object_recognition
	qos_profile: 10
	debug:
	topic: /fbot_vision/yolo/object_debug
	qos_profile: 10
	services:
	object_recognition:
	start: /fbot_vision/realsense/object_start
	stop: /fbot_vision/realsense/object_stop
	subscribers:
	slop: 0.2
	qos_profile: 10
	image_rgb: /fbot_vision/realsense/color/image_raw
	camera_info: /fbot_vision/realsense/color/camera_info
	image_depth: /fbot_vision/realsense/aligned_depth_to_color/image_raw
	publishers:
	object_recognition:
	topic: /fbot_vision/realsense/object_recognition
	qos_profile: 10
	debug:
	topic: /fbot_vision/realsense/object_debug
	qos_profile: 10

But we can discuss it to find the best way of doing this.

[gadorneles]

In the same way here, we should have a standard for topic names. I would do it like this:

Suggested change

	services:
	object_recognition:
	start: /fr/object_start
	stop: /fr/object_stop
	subscribers:
	slop: 0.2
	qos_profile: 10
	image_rgb: /femtobolt/color/image_raw
	camera_info: /femtobolt/color/camera_info
	image_depth: /femtobolt/depth/image_raw
	publishers:
	object_recognition:
	topic: /fr/object_recognition
	qos_profile: 10
	debug:
	topic: /fr/object_debug
	qos_profile: 10
	services:
	object_recognition:
	start: fbot_vision/femtobolt/object_start
	stop: fbot_vision/femtobolt/object_stop
	subscribers:
	slop: 0.2
	qos_profile: 10
	image_rgb: fbot_vision/femtobolt/color/image_raw
	camera_info: fbot_vision/femtobolt/color/camera_info
	image_depth: fbot_vision/femtobolt/depth/image_raw
	publishers:
	object_recognition:
	topic: fbot_vision/femtobolt/object_recognition
	qos_profile: 10
	debug:
	topic: fbot_vision/femtobolt/object_debug
	qos_profile: 10

[richassis]

Instead of creating an argument for the name of the file, find out a way to use the current "use_realsense" and "use_femtobolt" arguments. The idea is that, if realsense is going to be usde, then the config file name will be "yolov8_realsense.yaml". Else, the other one is selected. It will make it easier.