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修改kinect2.launch至此功能包下，并修改了调用此文件的kinect2.launch.xml。添加说明文档和mark图片pdf。
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WLwind committed May 15, 2019
1 parent d326446 commit 0a07ed0
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Showing 7 changed files with 128 additions and 40 deletions.
39 changes: 0 additions & 39 deletions README.md
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127 changes: 127 additions & 0 deletions turtlebot2i_bringup/launch/includes/3dsensor/kinect2.launch
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<launch>

<arg name="base_name" default="camera"/>
<arg name="sensor" default=""/>
<arg name="publish_tf" default="false"/>
<arg name="base_name_tf" default="$(arg base_name)"/>
<arg name="fps_limit" default="-1.0"/>
<arg name="calib_path" default="$(find kinect2_bridge)/data/"/>
<arg name="use_png" default="false"/>
<arg name="jpeg_quality" default="90"/>
<arg name="png_level" default="1"/>
<arg name="depth_method" default="opengl"/>
<arg name="depth_device" default="-1"/>
<arg name="reg_method" default="cpu"/>
<arg name="reg_device" default="-1"/>
<arg name="max_depth" default="12.0"/>
<arg name="min_depth" default="0.1"/>
<arg name="queue_size" default="5"/>
<arg name="bilateral_filter" default="true"/>
<arg name="edge_aware_filter" default="true"/>
<arg name="num_worker_threads" default="4"/>
<arg name="machine" default="localhost"/>
<arg name="nodelet_manager" default="$(arg base_name)/$(arg base_name)_nodelet_manager"/>
<arg name="start_manager" default="false"/>
<arg name="use_machine" default="true"/>
<arg name="respawn" default="true"/>
<arg name="use_nodelet" default="true"/>
<arg name="output" default="screen"/>

<machine name="localhost" address="localhost" if="$(arg use_machine)"/>


<group ns="$(arg base_name)">
<!-- Start nodelet manager -->
<arg name="manager" value="$(arg base_name)_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>

<!--node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager"
if="$(arg start_manager)" machine="$(arg machine)" output="screen"/-->


<!-- Nodelet version of kinect2_bridge -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_bridge" machine="$(arg machine)"
args="load kinect2_bridge/kinect2_bridge_nodelet $(arg manager)"
respawn="$(arg respawn)" output="$(arg output)" if="$(arg use_nodelet)">
<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="str" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
<param name="calib_path" type="str" value="$(arg calib_path)"/>
<param name="use_png" type="bool" value="$(arg use_png)"/>
<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="png_level" type="int" value="$(arg png_level)"/>
<param name="depth_method" type="str" value="$(arg depth_method)"/>
<param name="depth_device" type="int" value="$(arg depth_device)"/>
<param name="reg_method" type="str" value="$(arg reg_method)"/>
<param name="reg_device" type="int" value="$(arg reg_device)"/>
<param name="max_depth" type="double" value="$(arg max_depth)"/>
<param name="min_depth" type="double" value="$(arg min_depth)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
<param name="num_worker_threads" type="int" value="$(arg num_worker_threads)"/>
</node>


<!-- Node version of kinect2_bridge -->
<node pkg="kinect2_bridge" type="kinect2_bridge" name="$(arg base_name)_bridge" machine="$(arg machine)"
respawn="$(arg respawn)" output="$(arg output)" unless="$(arg use_nodelet)">
<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="str" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
<param name="calib_path" type="str" value="$(arg calib_path)"/>
<param name="use_png" type="bool" value="$(arg use_png)"/>
<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="png_level" type="int" value="$(arg png_level)"/>
<param name="depth_method" type="str" value="$(arg depth_method)"/>
<param name="depth_device" type="int" value="$(arg depth_device)"/>
<param name="reg_method" type="str" value="$(arg reg_method)"/>
<param name="reg_device" type="int" value="$(arg reg_device)"/>
<param name="max_depth" type="double" value="$(arg max_depth)"/>
<param name="min_depth" type="double" value="$(arg min_depth)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
<param name="num_worker_threads" type="int" value="$(arg num_worker_threads)"/>
</node>

<!-- sd point cloud (512 x 424) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_sd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/sd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/sd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/sd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/sd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>

<!-- qhd point cloud (960 x 540) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_qhd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/qhd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/qhd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/qhd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/qhd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>

<!-- hd point cloud (1920 x 1080) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_hd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/hd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/hd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/hd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/hd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</group>
</launch>
2 changes: 1 addition & 1 deletion turtlebot2i_bringup/launch/includes/3dsensor/kinect2.launch.xml
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<remap from="camera/sd/image_color_rect" to="rgb/image_raw"/>
<!--remap from="camera/sd/camera_info" to="depth_registered/camera_info"/-->
<remap from="camera/sd/camera_info" to="rgb/camera_info"/>
<include file="$(find kinect2_bridge)/launch/kinect2.launch">
<include file="$(find turtlebot2i_bringup)/launch/includes/3dsensor/kinect2.launch">
<arg name="base_name" value="$(arg base_name)"/> <!-- kinect2_bridge.launch -->
<arg name="publish_tf" value="$(arg publish_tf)"/>
<!--arg name="depth_registration" value="$(arg depth_registration)"/-->
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