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realsense.launch
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realsense.launch
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<?xml version="1.0"?>
<launch>
<arg name="record" default="False"/>
<!--This guide tells us settings to start with:-->
<!--https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/BKMs_Tuning_RealSense_D4xx_Cam.pdf-->
<!--Valid resolutions on page 55:-->
<!--https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.pdf-->
<!--S/N 1: 904412060717-->
<!--S/N 2: 912322061173-->
<arg name="serial_no_lower" value="904412060717"/>
<arg name="serial_no_upper" value="912322061173"/>
<arg name="depth_width" value="1280"/>
<arg name="depth_height" value="720"/>
<arg name="depth_fps" value="30"/>
<arg name="enable_color" value="True"/>
<arg name="enable_depth" value="True" if="$(eval record==True)"/>
<arg name="color_width" value="1920" if="$(eval record==True)"/>
<arg name="color_height" value="1080" if="$(eval record==True)"/>
<arg name="align_depth" value="True" if="$(eval record==True)"/>
<arg name="enable_depth" value="False" if="$(eval record==False)"/>
<arg name="color_width" value="848" if="$(eval record==False)"/>
<arg name="color_height" value="480" if="$(eval record==False)"/>
<arg name="align_depth" value="False" if="$(eval record==False)"/>
<!--Should be 30:-->
<arg name="color_fps" value="30"/>
<arg name="enable_pointcloud" value="false"/>
<arg name="enable_infra" value="false"/>
<!--<arg name="enable_sync" default="false"/>-->
<!--This seems like a good idea, but when this is done, nothing can connect for a while:-->
<arg name="initial_reset" value="false"/>
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="serial_no" value="$(arg serial_no_lower)"/>
<arg name="camera" value="lower_realsense"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="infra_width" value="$(arg depth_width)"/>
<arg name="infra_height" value="$(arg depth_height)"/>
<arg name="infra_fps" value="$(arg depth_fps)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="enable_gyro" value="false"/>
<arg name="enable_accel" value="false"/>
<!--<arg name="enable_pose" value="false"/>-->
<arg name="enable_infra1" value="$(arg enable_infra)"/>
<arg name="enable_infra2" value="$(arg enable_infra)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
</include>
<!--<group ns="lower_realsense/color">-->
<!--<node pkg="topic_tools" name="image_throttled" type="throttle" args="messages image_raw 15 image_throttled"/>-->
<!--<node pkg="nodelet" type="nodelet" name="image_web" args="standalone image_proc/resize">-->
<!--<param name="use_scale" type="bool" value="False"/>-->
<!--<param name="width" type="int" value="300"/>-->
<!--<param name="height" type="int" value="168"/>-->
<!--<remap from="image" to="image_throttled"/>-->
<!--<remap from="~image" to="image_web"/>-->
<!--</node>-->
<!--</group>-->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="serial_no" value="$(arg serial_no_upper)"/>
<arg name="camera" value="upper_realsense"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="enable_gyro" value="false"/>
<arg name="enable_accel" value="false"/>
<!--<arg name="enable_pose" value="false"/>-->
<arg name="enable_infra1" value="$(arg enable_infra)"/>
<arg name="enable_infra2" value="$(arg enable_infra)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
</include>
<!--<group ns="upper_realsense/color">-->
<!--<node pkg="topic_tools" name="image_throttled" type="throttle" args="messages image_raw 15 image_throttled"/>-->
<!--<node pkg="nodelet" type="nodelet" name="image_web" args="standalone image_proc/resize">-->
<!--<param name="use_scale" type="bool" value="False"/>-->
<!--<param name="width" type="int" value="300"/>-->
<!--<param name="height" type="int" value="168"/>-->
<!--<remap from="image" to="image_throttled"/>-->
<!--<remap from="~image" to="image_web"/>-->
<!--</node>-->
<!--</group>-->
</launch>