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<launch>
<node name="find_grasps" pkg="agile_grasp" type="find_grasps" output="screen">
<param name="cloud_topic" value="/register_clouds/point_cloud_sized" />
<param name="cloud_frame" value="/base" />
<param name="cloud_type" value="1" />
<param name="svm_file_name" value="$(find agile_grasp)/svm_032015_20_20_same" />
<param name="num_samples" value="8000" />
<param name="num_threads" value="4" />
<param name="num_clouds" value="1" />
<rosparam param="workspace"> [0.55, 0.9, -0.32, 0.05, -0.3, 1] </rosparam>
<rosparam param="camera_pose"> [0, 0.445417, 0.895323, 0.215,
1, 0, 0, -0.015,
0, 0.895323, -0.445417, 0.23,
0, 0, 0, 1] </rosparam>
<param name="min_inliers" value="10" />
<param name="plotting" value="3" /> <!-- 0: none, 1: PCL, 2: PCL with fingers, 3: rviz -->
<param name="marker_lifetime" value="30" />
</node>
</launch>
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