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Splitted image pipeline for pointcloud streaming
<!-- A turtlebot -->
https://github.com/turtlebot/turtlebot/blob/master/turtlebot_bringup/launch/3dsensor.launch
<!-- Remote Side -->
<arg name="camera" default="camera"/>
<arg name="depth" default="depth_registered"/>
<arg name="points" default="remote_points"/>
<arg name="nodelet_name" default="remote_nodelet"/>
<arg name="respawn" default="false"/>
<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />
<node pkg="nodelet" type="nodelet" name="$(arg nodelet_name)" args="manager"/>
<group ns="$(arg camera)">
<node pkg="nodelet" type="nodelet" name="remote_points_xyzrgb" args="load depth_image_proc/point_cloud_xyzrgb /$(arg nodelet_name) $(arg bond)
<param name="image_transport" value="compressed"/>
<param name="depth_image_transport" value="compressedDepth"/>
<remap from="$(arg depth)/image_rect/compressedDepth" to="$(arg depth)/image_rect_raw/compressedDepth"/>
<remap from="$(arg depth)/points" to="$(arg depth)/$(arg points)"/>
</node>
</group>
...
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