-
Notifications
You must be signed in to change notification settings - Fork 25
/
mono_stereo_nodelets.launch
44 lines (40 loc) · 3.11 KB
/
mono_stereo_nodelets.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
<!-- Open both an Ensenso stereo camera and a mono camera within the same
nodelet manager. -->
<launch>
<arg name="serial_stereo" doc="Serial of the stereo camera (default: first found stereo camera)" default="" />
<arg name="serial_mono" doc="Serial of the mono camera (default: first found mono camera)" default="" />
<arg name="settings_stereo" doc="JSON file with stereo camera parameters" default="" />
<arg name="settings_mono" doc="JSON file with mono camera parameters" default="" />
<arg name="stereo_ns" doc="Namespace of the stereo camera" default="stereo" />
<arg name="mono_ns" doc="Namespace of the mono camera" default="mono" />
<arg name="camera_frame" doc="The stereo camera's tf frame (default: optical_frame_SERIAL_STEREO)" default="" />
<arg name="stereo_link_frame" doc="The stereo camera's link tf frame (default: camera_frame)" default="" />
<arg name="mono_link_frame" doc="The mono camera's link tf frame (default: camera_frame)" default="" />
<arg name="target_frame" doc="The tf frame the data will be returned in (default: camera_frame)" default="" />
<arg name="tcp_port" doc="The TCP port to open on the NxLib (-1=off, 0=autoSelect, >0=portNumber)" default="-1" />
<arg name="threads" doc="The number of threads used by the NxLib for this node (-1=autoDetect)" default="-1" />
<arg name="wait_for_camera" doc="Whether this node should wait for the camera to become available" default="false" />
<arg name="node_name_stereo" doc="Node name of the stereo camera" default="$(arg serial_stereo)" />
<arg name="node_name_mono" doc="Node name of the mono camera" default="$(arg serial_mono)" />
<arg name="mono_capture_timeout" doc="Capture timeout of the mono camera" default="1000" />
<node pkg="nodelet" type="nodelet" name="manager_" args="manager" output="screen" />
<node pkg="nodelet" type="nodelet" name="Ensenso_$(arg node_name_stereo)" ns="$(arg stereo_ns)"
args="load ensenso_camera/stereo_camera_node /manager_" output="screen">
<param name="serial" type="string" value="$(arg serial_stereo)" />
<param name="settings" type="string" value="$(arg settings_stereo)" />
<param name="camera_frame" type="string" value="$(arg camera_frame)" />
<param name="link_frame" type="string" value="$(arg stereo_link_frame)" />
<param name="target_frame" type="string" value="$(arg target_frame)" />
<param name="tcp_port" type="int" value="$(arg tcp_port)" />
<param name="threads" type="int" value="$(arg threads)" />
<param name="wait_for_camera" type="bool" value="$(arg wait_for_camera)" />
</node>
<node pkg="nodelet" type="nodelet" name="Ensenso_$(arg node_name_mono)" ns="$(arg mono_ns)"
args="load ensenso_camera/mono_camera_node /manager_" output="screen">
<param name="serial" type="string" value="$(arg serial_mono)" />
<param name="settings" type="string" value="$(arg settings_mono)" />
<param name="link_frame" type="string" value="$(arg mono_link_frame)" />
<param name="wait_for_camera" type="bool" value="$(arg wait_for_camera)" />
<param name="capture_timeout" type="int" value="$(arg mono_capture_timeout)" />
</node>
</launch>