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March 11, 2019 01:36
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<launch> | |
<arg name="serial_no" default=""/> | |
<arg name="json_file_path" default=""/> | |
<arg name="camera" default="camera"/> | |
<arg name="tf_prefix" default="$(arg camera)"/> | |
<arg name="fisheye_width" default="640"/> | |
<arg name="fisheye_height" default="480"/> | |
<arg name="enable_fisheye" default="true"/> | |
<arg name="depth_width" default="640"/> | |
<arg name="depth_height" default="480"/> | |
<arg name="enable_depth" default="true"/> | |
<arg name="infra1_width" default="640"/> | |
<arg name="infra1_height" default="480"/> | |
<arg name="enable_infra1" default="true"/> | |
<arg name="infra2_width" default="640"/> | |
<arg name="infra2_height" default="480"/> | |
<arg name="enable_infra2" default="true"/> | |
<arg name="color_width" default="640"/> | |
<arg name="color_height" default="480"/> | |
<arg name="enable_color" default="true"/> | |
<arg name="fisheye_fps" default="30"/> | |
<arg name="depth_fps" default="30"/> | |
<arg name="infra1_fps" default="30"/> | |
<arg name="infra2_fps" default="30"/> | |
<arg name="color_fps" default="30"/> | |
<arg name="gyro_fps" default="1000"/> | |
<arg name="accel_fps" default="1000"/> | |
<arg name="enable_imu" default="true"/> | |
<arg name="enable_pointcloud" default="false"/> | |
<arg name="enable_sync" default="true"/> | |
<arg name="align_depth" default="true"/> | |
<arg name="filters" default=""/> | |
<group ns="$(arg camera)"> | |
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml"> | |
<arg name="tf_prefix" value="$(arg tf_prefix)"/> | |
<arg name="serial_no" value="$(arg serial_no)"/> | |
<arg name="json_file_path" value="$(arg json_file_path)"/> | |
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/> | |
<arg name="enable_sync" value="$(arg enable_sync)"/> | |
<arg name="align_depth" value="$(arg align_depth)"/> | |
<arg name="fisheye_width" value="$(arg fisheye_width)"/> | |
<arg name="fisheye_height" value="$(arg fisheye_height)"/> | |
<arg name="enable_fisheye" value="$(arg enable_fisheye)"/> | |
<arg name="depth_width" value="$(arg depth_width)"/> | |
<arg name="depth_height" value="$(arg depth_height)"/> | |
<arg name="enable_depth" value="$(arg enable_depth)"/> | |
<arg name="color_width" value="$(arg color_width)"/> | |
<arg name="color_height" value="$(arg color_height)"/> | |
<arg name="enable_color" value="$(arg enable_color)"/> | |
<arg name="infra1_width" value="$(arg infra1_width)"/> | |
<arg name="infra1_height" value="$(arg infra1_height)"/> | |
<arg name="enable_infra1" value="$(arg enable_infra1)"/> | |
<arg name="infra2_width" value="$(arg infra2_width)"/> | |
<arg name="infra2_height" value="$(arg infra2_height)"/> | |
<arg name="enable_infra2" value="$(arg enable_infra2)"/> | |
<arg name="fisheye_fps" value="$(arg fisheye_fps)"/> | |
<arg name="depth_fps" value="$(arg depth_fps)"/> | |
<arg name="infra1_fps" value="$(arg infra1_fps)"/> | |
<arg name="infra2_fps" value="$(arg infra2_fps)"/> | |
<arg name="color_fps" value="$(arg color_fps)"/> | |
<arg name="gyro_fps" value="$(arg gyro_fps)"/> | |
<arg name="accel_fps" value="$(arg accel_fps)"/> | |
<arg name="enable_imu" value="$(arg enable_imu)"/> | |
<arg name="filters" value="$(arg filters)"/> | |
</include> | |
</group> | |
<!-- Backward compatibility launch file, use rtabmap.launch instead --> | |
<!-- Your RGB-D sensor should be already started with "depth_registration:=true". | |
Examples: | |
$ roslaunch freenect_launch freenect.launch depth_registration:=true | |
$ roslaunch openni2_launch openni2.launch depth_registration:=true --> | |
<!-- Choose visualization --> | |
<arg name="rviz" default="false" /> | |
<arg name="rtabmapviz" default="true" /> | |
<!-- Localization-only mode --> | |
<arg name="localization" default="false"/> | |
<!-- Corresponding config files --> | |
<arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" /> | |
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" /> | |
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published --> | |
<arg name="database_path" default="~/.ros/rtabmap.db"/> | |
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug --> | |
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes --> | |
<arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized --> | |
<arg name="rgb_topic" default="/camera/color/image_raw" /> | |
<arg name="depth_registered_topic" default="/camera/depth/image_rect_raw" /> | |
<arg name="camera_info_topic" default="/camera/color/camera_info" /> | |
<arg name="compressed" default="false"/> | |
<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF --> | |
<arg name="scan_topic" default="/scan"/> | |
<arg name="subscribe_scan_cloud" default="false"/> <!-- Assuming 3D scan if set --> | |
<arg name="scan_cloud_topic" default="/scan_cloud"/> | |
<arg name="visual_odometry" default="true"/> <!-- Generate visual odometry --> | |
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false --> | |
<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic --> | |
<arg name="namespace" default="rtabmap"/> | |
<arg name="wait_for_transform" default="0.2"/> | |
<include file="$(find rtabmap_ros)/launch/rtabmap.launch"> | |
<arg name="rtabmapviz" value="$(arg rtabmapviz)" /> | |
<arg name="rviz" value="$(arg rviz)" /> | |
<arg name="localization" value="$(arg localization)"/> | |
<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" /> | |
<arg name="rviz_cfg" value="$(arg rviz_cfg)" /> | |
<arg name="frame_id" value="$(arg frame_id)"/> | |
<arg name="namespace" value="$(arg namespace)"/> | |
<arg name="database_path" value="$(arg database_path)"/> | |
<arg name="wait_for_transform" value="$(arg wait_for_transform)"/> | |
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/> | |
<arg name="launch_prefix" value="$(arg launch_prefix)"/> | |
<arg name="approx_sync" value="$(arg approx_sync)"/> | |
<arg name="rgb_topic" value="$(arg rgb_topic)" /> | |
<arg name="depth_topic" value="$(arg depth_registered_topic)" /> | |
<arg name="camera_info_topic" value="$(arg camera_info_topic)" /> | |
<arg name="compressed" value="$(arg compressed)"/> | |
<arg name="subscribe_scan" value="$(arg subscribe_scan)"/> | |
<arg name="scan_topic" value="$(arg scan_topic)"/> | |
<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/> | |
<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/> | |
<arg name="visual_odometry" value="$(arg visual_odometry)"/> | |
<arg name="odom_topic" value="$(arg odom_topic)"/> | |
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/> | |
<arg name="odom_args" value="$(arg rtabmap_args)"/> | |
</include> | |
</launch> |
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