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run.launch
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run.launch
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<?xml version="1.0"?>
<!--
run.launch: this file does no more than calling other launch file
Author: Ravi Joshi
Date: 2019/11/23
-->
<launch>
<!-- the value of this argument can only be one of the following: realsense, kinect, nodepth -->
<arg name="camera" default="realsense" />
<!-- set this flag to see invoke RViz -->
<arg name="rviz" default="true" />
<!-- set this flag to invoke the visualization of the skeleton -->
<arg name="skeleton" default="true" />
<!-- set this flag to see the pointcloud in the visualization inside RViz -->
<arg name="pointcloud" default="true" />
<!-- set this flag to invoke the visualization of the hands of the skeleton -->
<arg name="skeleton_hands" default="false" />
<!--
the standard openpose command-line arguments are also supported.
to do so, please change the value, as shown in the example below.
-->
<?ignore
<arg name="openpose_args" value="--hand --disable_multi_thread --model_folder /home/ravi/openpose/models/" />
?>
<!-- full path to the model dir of openpose -->
<arg name="openpose_args" value="--model_folder /home/ravi/openpose/models/" />
<!-- rostopic to publish the 3D skeleton data -->
<arg name="pub_topic" default="/frame" />
<!-- thickness of the line used to draw skeleton for visualization inside RViz -->
<arg name="skeleton_line_width" default="0.01" />
<!-- size of the text used to indicate the id of a skeleton for visualization inside RViz -->
<arg name="id_text_size" default="0.2" />
<!-- offeset of the text used to indicate the id of a skeleton for visualization inside RViz -->
<arg name="id_text_offset" default="-0.05" />
<!-- flag to enable printing ros message to terminal -->
<arg name="print" default="true" />
<include file="$(find ros_openpose)/launch/config_$(arg camera).launch" >
<arg name="rviz" value="$(arg rviz)" />
<arg name="print" value="$(arg print)" />
<arg name="skeleton" value="$(arg skeleton)" />
<arg name="pub_topic" value="$(arg pub_topic)" />
<arg name="pointcloud" value="$(arg pointcloud)" />
<arg name="id_text_size" value="$(arg id_text_size)" />
<arg name="openpose_args" value="$(arg openpose_args)" />
<arg name="skeleton_hands" value="$(arg skeleton_hands)" />
<arg name="id_text_offset" value="$(arg id_text_offset)" />
<arg name="skeleton_line_width" value="$(arg skeleton_line_width)" />
</include>
</launch>