forked from OpenNI/OpenNI2
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
add tf_prefix version, as per OpenNI#16
- Loading branch information
1 parent
e9e8e72
commit 1ed40d4
Showing
1 changed file
with
117 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,117 @@ | ||
<!-- Entry point for using OpenNI2 devices (if you still use tf_prefix) --> | ||
<launch> | ||
|
||
<!-- "camera" should uniquely identify the device. All topics are pushed down | ||
into the "camera" namespace, and it is prepended to tf frame ids. --> | ||
<arg name="camera" default="camera" /> | ||
<arg name="tf_prefix" default="" /> | ||
<arg name="rgb_frame_id" default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" /> | ||
<arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" /> | ||
|
||
<!-- device_id can have the following formats: | ||
"#1" : the first device found | ||
"2@X" : the Xth device on USB bus 2 --> | ||
<arg name="device_id" default="#1" /> | ||
|
||
<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml, | ||
where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B". | ||
See camera_info_manager docs for calibration URL details. --> | ||
<arg name="rgb_camera_info_url" default="" /> | ||
<arg name="depth_camera_info_url" default="" /> | ||
|
||
<!-- Hardware depth registration --> | ||
<arg name="depth_registration" default="false" /> | ||
|
||
<!-- Driver parameters --> | ||
<arg name="color_depth_synchronization" default="false" /> | ||
<arg name="auto_exposure" default="true" /> | ||
<arg name="auto_white_balance" default="true" /> | ||
|
||
<!-- Arguments for remapping all device namespaces --> | ||
<arg name="rgb" default="rgb" /> | ||
<arg name="ir" default="ir" /> | ||
<arg name="depth" default="depth" /> | ||
|
||
<!-- Optionally suppress loading the driver nodelet and/or publishing the default tf | ||
tree. Useful if you are playing back recorded raw data from a bag, or are | ||
supplying a more accurate tf tree from calibration. --> | ||
<arg name="load_driver" default="true" /> | ||
<arg name="publish_tf" default="true" /> | ||
<!-- Processing Modules --> | ||
<arg name="rgb_processing" default="true" /> | ||
<arg name="debayer_processing" default="false" /> | ||
<arg name="ir_processing" default="false" /> | ||
<arg name="depth_processing" default="true" /> | ||
<arg name="depth_registered_processing" default="true" /> | ||
<arg name="disparity_processing" default="false" /> | ||
<arg name="disparity_registered_processing" default="false" /> | ||
<arg name="hw_registered_processing" default="true" if="$(arg depth_registration)" /> | ||
<arg name="sw_registered_processing" default="false" if="$(arg depth_registration)" /> | ||
<arg name="hw_registered_processing" default="false" unless="$(arg depth_registration)" /> | ||
<arg name="sw_registered_processing" default="true" unless="$(arg depth_registration)" /> | ||
|
||
<!-- Disable bond topics by default --> | ||
<arg name="respawn" default="false" /> | ||
|
||
<!-- Worker threads for the nodelet manager --> | ||
<arg name="num_worker_threads" default="4" /> | ||
|
||
<!-- Push down all topics/nodelets into "camera" namespace --> | ||
<group ns="$(arg camera)"> | ||
|
||
<!-- Start nodelet manager --> | ||
<arg name="manager" value="$(arg camera)_nodelet_manager" /> | ||
<arg name="debug" default="false" /> <!-- Run manager in GDB? --> | ||
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml"> | ||
<arg name="name" value="$(arg manager)" /> | ||
<arg name="debug" value="$(arg debug)" /> | ||
<arg name="num_worker_threads" value="$(arg num_worker_threads)" /> | ||
</include> | ||
|
||
<!-- Load driver --> | ||
<include if="$(arg load_driver)" | ||
file="$(find openni2_launch)/launch/includes/device.launch.xml"> | ||
<arg name="manager" value="$(arg manager)" /> | ||
<arg name="device_id" value="$(arg device_id)" /> | ||
<arg name="rgb_frame_id" value="$(arg rgb_frame_id)" /> | ||
<arg name="depth_frame_id" value="$(arg depth_frame_id)" /> | ||
<arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)" /> | ||
<arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" /> | ||
<arg name="rgb" value="$(arg rgb)" /> | ||
<arg name="ir" value="$(arg ir)" /> | ||
<arg name="depth" value="$(arg depth)" /> | ||
<arg name="respawn" value="$(arg respawn)" /> | ||
<arg name="depth_registration" value="$(arg depth_registration)" /> | ||
<arg name="color_depth_synchronization" value="$(arg color_depth_synchronization)" /> | ||
<arg name="auto_exposure" value="$(arg auto_exposure)" /> | ||
<arg name="auto_white_balance" value="$(arg auto_white_balance)" /> | ||
</include> | ||
|
||
<!-- Load standard constellation of processing nodelets --> | ||
<include file="$(find rgbd_launch)/launch/includes/processing.launch.xml"> | ||
<arg name="manager" value="$(arg manager)" /> | ||
<arg name="rgb" value="$(arg rgb)" /> | ||
<arg name="ir" value="$(arg ir)" /> | ||
<arg name="depth" value="$(arg depth)" /> | ||
<arg name="respawn" value="$(arg respawn)" /> | ||
<arg name="rgb_processing" value="$(arg rgb_processing)" /> | ||
<arg name="debayer_processing" value="$(arg debayer_processing)" /> | ||
<arg name="ir_processing" value="$(arg ir_processing)" /> | ||
<arg name="depth_processing" value="$(arg depth_processing)" /> | ||
<arg name="depth_registered_processing" value="$(arg depth_registered_processing)" /> | ||
<arg name="disparity_processing" value="$(arg disparity_processing)" /> | ||
<arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" /> | ||
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" /> | ||
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" /> | ||
</include> | ||
|
||
</group> <!-- camera --> | ||
|
||
<!-- Load reasonable defaults for the relative pose between cameras --> | ||
<include if="$(arg publish_tf)" | ||
file="$(find rgbd_launch)/launch/kinect_frames.launch"> | ||
<arg name="camera" value="$(arg camera)" /> | ||
<arg name="tf_prefix" value="$(arg tf_prefix)" /> | ||
</include> | ||
|
||
</launch> |