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add tf_prefix version, as per ros-drivers#16
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| <!-- Entry point for using OpenNI2 devices (if you still use tf_prefix) --> | ||
| <launch> | ||
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| <!-- "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="tf_prefix" default="" /> | ||
| <arg name="rgb_frame_id" default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" /> | ||
| <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" /> | ||
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| <!-- device_id can have the following formats: | ||
| "#1" : the first device found | ||
| "2@X" : the Xth device on USB bus 2 --> | ||
| <arg name="device_id" default="#1" /> | ||
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| <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml, | ||
| where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B". | ||
| See camera_info_manager docs for calibration URL details. --> | ||
| <arg name="rgb_camera_info_url" default="" /> | ||
| <arg name="depth_camera_info_url" default="" /> | ||
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| <!-- Hardware depth registration --> | ||
| <arg name="depth_registration" default="false" /> | ||
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| <!-- Driver parameters --> | ||
| <arg name="color_depth_synchronization" default="false" /> | ||
| <arg name="auto_exposure" default="true" /> | ||
| <arg name="auto_white_balance" default="true" /> | ||
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| <!-- Arguments for remapping all device namespaces --> | ||
| <arg name="rgb" default="rgb" /> | ||
| <arg name="ir" default="ir" /> | ||
| <arg name="depth" default="depth" /> | ||
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| <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf | ||
| tree. Useful if you are playing back recorded raw data from a bag, or are | ||
| supplying a more accurate tf tree from calibration. --> | ||
| <arg name="load_driver" default="true" /> | ||
| <arg name="publish_tf" default="true" /> | ||
| <!-- Processing Modules --> | ||
| <arg name="rgb_processing" default="true" /> | ||
| <arg name="debayer_processing" default="false" /> | ||
| <arg name="ir_processing" default="false" /> | ||
| <arg name="depth_processing" default="true" /> | ||
| <arg name="depth_registered_processing" default="true" /> | ||
| <arg name="disparity_processing" default="false" /> | ||
| <arg name="disparity_registered_processing" default="false" /> | ||
| <arg name="hw_registered_processing" default="true" if="$(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="$(arg depth_registration)" /> | ||
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| <!-- Disable bond topics by default --> | ||
| <arg name="respawn" default="false" /> | ||
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| <!-- Worker threads for the nodelet manager --> | ||
| <arg name="num_worker_threads" default="4" /> | ||
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| <!-- Push down all topics/nodelets into "camera" namespace --> | ||
| <group ns="$(arg camera)"> | ||
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| <!-- 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="$(arg num_worker_threads)" /> | ||
| </include> | ||
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| <!-- Load driver --> | ||
| <include if="$(arg load_driver)" | ||
| file="$(find openni2_launch)/launch/includes/device.launch.xml"> | ||
| <arg name="manager" value="$(arg manager)" /> | ||
| <arg name="device_id" value="$(arg device_id)" /> | ||
| <arg name="rgb_frame_id" value="$(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="$(arg auto_white_balance)" /> | ||
| </include> | ||
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| <!-- Load standard constellation of processing nodelets --> | ||
| <include file="$(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> | ||
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| </group> <!-- camera --> | ||
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| <!-- Load reasonable defaults for the relative pose between cameras --> | ||
| <include if="$(arg publish_tf)" | ||
| file="$(find rgbd_launch)/launch/kinect_frames.launch"> | ||
| <arg name="camera" value="$(arg camera)" /> | ||
| <arg name="tf_prefix" value="$(arg tf_prefix)" /> | ||
| </include> | ||
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| </launch> |