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## title = Launch modes of BLORT
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Introduction ==

Running a Tracker-Detector system all the time can be too expensive in computation time. 

If you are certain when you would like to use it, it would be a straightforward idea to launch everything at that time but this option is also a bit complicated. What we have implemented instead in blort_ros is that you have two different ways to launch BLORT. 

We named these launch modes. You can set the launch_mode for BLORT by passing a parameter through the [[http://www.ros.org/wiki/Parameter%20Server|ROS Parameter Server]]. If you take a look at the launch files in the blort_ros package, you can notice the following lines:

{{{
<param name="launch_mode" value="tracking" />
}}}

or 

{{{
<param name="launch_mode" value="singleshot" />
}}}

This is how you can control the launch mode. See the below figures about their working mechanism.

== Modes ==

'''Tracking mode:'''
It's the usual mode that you have seen so far in the [[http://www.ros.org/wiki/blort_ros/Tutorials|Tutorials]].
It will immediately start BLORT with the Detector as usual.

{{attachment:tracking_mode.png}}

'''Singleshot mode:'''
In this mode there is a service advertised and calling it will run BLORT for a given amount of time and return a pose result if any. This way you don't have to worry about the computation cost of constant tracking.

{{attachment:singleshot_mode.png}}

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