Created
January 11, 2017 18:14
-
-
Save tonybaltovski/b5424d5ec4fae1de7cfcec8fcabe5c10 to your computer and use it in GitHub Desktop.
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
<!-- Entry point for using OpenNI2 devices --> | |
<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="rgb_frame_id" default="$(arg camera)_rgb_optical_frame" /> | |
<arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" /> | |
<!-- device_id can have the following formats: | |
"#n" : the nth device found, starts from 1 | |
"2@n" : the nth device on USB bus 2, n starts from 1 | |
"2bc5/0401@1/6" : uri in format <vendor ID>/<product ID>@<bus number>/<device number> | |
"15120410023" : serial number --> | |
<arg name="device_id" default="#1" /> | |
<arg name="bootorder" default="0" /> | |
<arg name="devnums" default="1" /> | |
<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml, | |
where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B". | |
See camera_info_manager docs for calibration URL details. --> | |
<arg name="rgb_camera_info_url" default="" /> | |
<arg name="depth_camera_info_url" default="" /> | |
<!-- Hardware depth registration --> | |
<arg name="depth_registration" default="false" /> | |
<!-- Driver parameters --> | |
<arg name="color_depth_synchronization" default="false" /> | |
<arg name="auto_exposure" default="true" /> | |
<arg name="auto_white_balance" default="true" /> | |
<!-- Arguments for remapping all device namespaces --> | |
<arg name="rgb" default="rgb" /> | |
<arg name="ir" default="ir" /> | |
<arg name="depth" default="depth" /> | |
<!-- Optionally suppress loading the driver nodelet and/or publishing the default tf | |
tree. Useful if you are playing back recorded raw data from a bag, or are | |
supplying a more accurate tf tree from calibration. --> | |
<arg name="load_driver" default="true" /> | |
<arg name="publish_tf" default="true" /> | |
<!-- Processing Modules --> | |
<arg name="rgb_processing" default="false" /> | |
<arg name="debayer_processing" default="false" /> | |
<arg name="ir_processing" default="false" /> | |
<arg name="depth_processing" default="true" /> | |
<arg name="depth_registered_processing" default="true" /> | |
<arg name="disparity_processing" default="false" /> | |
<arg name="disparity_registered_processing" default="false" /> | |
<arg name="hw_registered_processing" default="true" if="$(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="$(find astra_launch)/launch/includes/device.launch.xml"> | |
<arg name="manager" value="$(arg manager)" /> | |
<arg name="device_id" value="$(arg device_id)" /> | |
<arg name="bootorder" value="$(arg bootorder)" /> | |
<arg name="devnums" value="$(arg devnums)" /> | |
<arg name="rgb_frame_id" value="$(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 ns="rgb"> | |
<node pkg="libuvc_camera" type="camera_node" name="mycam"> | |
<!-- Parameters used to find the camera --> | |
<param name="vendor" value="0x2bc5"/> | |
<param name="product" value="0x501"/> | |
<param name="serial" value=""/> | |
<!-- If the above parameters aren't unique, choose the first match: --> | |
<param name="index" value="0"/> | |
<!-- Image size and type --> | |
<param name="width" value="1280"/> | |
<param name="height" value="720"/> | |
<!-- choose whichever uncompressed format the camera supports: --> | |
<param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/jpeg --> | |
<param name="frame_rate" value="30"/> | |
<param name="frame_id" value="camera_rgb_optical_frame"/> | |
<param name="timestamp_method" value="start"/> <!-- start of frame --> | |
<!-- <param name="camera_info_url" value="file:///tmp/cam.yaml"/> --> | |
</node> | |
</group> | |
</group> <!-- camera --> | |
<!-- Load reasonable defaults for the relative pose between cameras --> | |
<include if="$(arg publish_tf)" | |
file="$(find astra_launch)/launch/includes/astra_frames.launch"> | |
<arg name="camera" value="$(arg camera)" /> | |
</include> | |
</launch> |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment