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[jsk_data] Remap /kinect_head topics to /kinect_head_c2 to play rosbag for pr2 #1431

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merged 2 commits into from
Jul 24, 2016
Merged

[jsk_data] Remap /kinect_head topics to /kinect_head_c2 to play rosbag for pr2 #1431

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67dd793
Remap /kinect_head topics to /kinect_head_c2 to play rosbag for pr2
wkentaro Jul 21, 2016
ea8b810
Merge branch 'master' into feature/pr2-play
wkentaro Jul 22, 2016
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28 changes: 28 additions & 0 deletions jsk_data/launch/pr2_play.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,34 @@
<arg name="use_xterm" default="false" />
<arg name="camera" default="kinect_head_c2"/>

<!-- c1 on real robot publishes topics with /kinect_head namespace
so we remap them to /kinect_head_c2 here -->
<arg name="manager" value="$(arg camera)/$(arg camera)_nodelet_manager" />
<node name="relay_kinect_head_rgb_camera_info"
pkg="nodelet" type="nodelet"
args="load jsk_topic_tools/Relay $(arg manager)">
<remap from="~input" to="/kinect_head/rgb/camera_info" />
<remap from="~output" to="/$(arg camera)/rgb/camera_info" />
</node>
<node name="relay_kinect_head_rgb_image_raw"
pkg="nodelet" type="nodelet"
args="load jsk_topic_tools/Relay $(arg manager)">
<remap from="~input" to="/kinect_head/rgb/image_raw" />
<remap from="~output" to="/$(arg camera)/rgb/image_raw" />
</node>
<node name="relay_kinect_head_depth_camera_info"
pkg="nodelet" type="nodelet"
args="load jsk_topic_tools/Relay $(arg manager)">
<remap from="~input" to="/kinect_head/depth_registered/camera_info" />
<remap from="~output" to="/$(arg camera)/depth_registered/camera_info" />
</node>
<node name="relay_kinect_head_depth_image_raw"
pkg="nodelet" type="nodelet"
args="load jsk_topic_tools/Relay $(arg manager)">
<remap from="~input" to="/kinect_head/depth_registered/image_raw" />
<remap from="~output" to="/$(arg camera)/depth_registered/image_raw" />
</node>

<!-- set params for rviz -->
<param name="use_sim_time" value="true" />
<param if="$(arg launch_robot_model)" name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" />
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