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proc.launch
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proc.launch
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<!-- Launch the OpenNI device driver -->
<launch>
<arg name="manager_name" />
<arg name="calib_path" />
<arg name="publish_cloud" />
<arg name="scale" />
<arg name="unwarp" />
<arg name="verbose" />
<!-- Debayered images -->
<node pkg="nodelet" type="nodelet" name="debayer"
args="load image_proc/debayer $(arg manager_name)">
<remap from="image_raw" to="/camera/rgb/image_raw"/>
<remap from="image_color" to="/camera/rgb/image_color"/>
</node>
<node pkg="nodelet" type="nodelet" name="rgbd_image_proc"
args="load ccny_rgbd/RGBDImageProcNodelet $(arg manager_name)"
output="log">
<!-- Resample by a factor of 2-->
<param name="scale" value="$(arg scale)"/>
<param name="unwarp" value="$(arg unwarp)"/>
<param name="publish_cloud" value="$(arg publish_cloud)"/>
<param name="calib_path" value="$(arg calib_path)"/>
<param name="verbose" value="$(arg verbose)"/>
</node>
<!-- static transforms -->
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_rgb_frame_tf"
args="0 -0.045 0 0 0 0 /camera_link /camera_rgb_frame 40" />
<node pkg="tf" type="static_transform_publisher" name="camera_rgb_optical_frame_tf"
args="$(arg optical_rotate) /camera_rgb_frame /camera_rgb_optical_frame 40" />
</launch>