Created
May 7, 2020 07:01
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ROS launch file to start D435 and T265
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<launch> | |
<arg name="device_type_camera1" default="t265"/> | |
<arg name="serial_no_camera1" default=""/> | |
<arg name="serial_no_camera2" default=""/> | |
<arg name="camera1" default="t265"/> | |
<arg name="camera2" default="d435"/> | |
<arg name="tf_prefix_camera1" default="$(arg camera1)"/> | |
<arg name="tf_prefix_camera2" default="$(arg camera2)"/> | |
<arg name="initial_reset" default="true"/> | |
<arg name="enable_fisheye" default="false"/> | |
<arg name="topic_odom_in" default="odom_in"/> | |
<arg name="calib_odom_file" default=""/> | |
<arg name="t265_map_path" default="t265.map"/> | |
<arg name="t265_map_delete" default="true"/> | |
<group ns="$(arg camera1)"> | |
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml"> | |
<arg name="device_type" value="$(arg device_type_camera1)"/> | |
<arg name="serial_no" value="$(arg serial_no_camera1)"/> | |
<arg name="tf_prefix" value="$(arg tf_prefix_camera1)"/> | |
<arg name="initial_reset" value="$(arg initial_reset)"/> | |
<arg name="enable_fisheye1" value="$(arg enable_fisheye)"/> | |
<arg name="enable_fisheye2" value="$(arg enable_fisheye)"/> | |
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/> | |
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/> | |
<arg name="t265_map_path" value="$(arg t265_map_path)"/> | |
<arg name="t265_map_delete" value="$(arg t265_map_delete)"/> | |
</include> | |
</group> | |
<include file="$(find timed_roslaunch)/launch/timed_roslaunch.launch"> | |
<arg name="time" value="15" /> | |
<arg name="pkg" value="realsense2_camera" /> | |
<arg name="file" value="rovy_d435.launch" /> | |
<arg name="value" value="camera2:=$(arg camera2) serial_no_camera2:=$(arg serial_no_camera2)" /> | |
</include> | |
<node pkg="tf" type="static_transform_publisher" name="t265_to_d400" args="0 0 0 0 0 0 /$(arg tf_prefix_camera1)_link /$(arg tf_prefix_camera2)_link 100"/> | |
</launch> |
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