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
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
|
<!-- Register a depth camera with an RGB camera -->
<!-- TODO: Should be able to remap namespaces in nodelet load with current roscpp -->
<launch>
<arg name="camera" default="camera" />
<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="base_link"
args="0 -0.02 0 0 0 0 /base_link /depth_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="base_link1"
args="0 -0.045 0 0 0 0 /base_link /rgb_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="base_link2"
args="$(arg optical_rotate) /depth_frame /depth_optical_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="base_link3"
args="$(arg optical_rotate) /rgb_frame /rgb_optical_frame 100" />
<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="manager" args="manager"
output="screen" launch-prefix="" />
<arg name="manager" default="manager" />
<arg name="respawn" default="false" />
<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />
<!-- robot/sensor (MORSE convention) -->
<arg name="robot_sensor" default="robot/Kinect" />
<!-- TODO: Instead "rgb", "depth" and "depth_registered" should be remapped as
necessary by top-level launch file -->
<arg name="rgb" default="$(arg robot_sensor)/rgb" />
<arg name="depth" default="$(arg robot_sensor)/depth" />
<arg name="depth_registered" default="$(arg robot_sensor)/depth_registered" />
<!-- For distinguishing multiple register/XYZRGB nodelets. Default fails if rgb
or depth contains a namespace. -->
<arg name="suffix" default="depth_rgb" />
<!-- Registration nodelet, projecting depth to RGB camera -->
<node pkg="nodelet" type="nodelet" name="register_$(arg suffix)"
args="load depth_image_proc/register $(arg manager) $(arg bond)"
respawn="$(arg respawn)">
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/camera_info" to="$(arg rgb)/camera_info" />
<remap from="depth/camera_info" to="$(arg depth)/camera_info" />
<remap from="depth/image_rect" to="$(arg depth)/image" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_rect" />
</node>
<!-- Instead publish registered XYZRGB point cloud -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_$(arg suffix)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)"
respawn="$(arg respawn)">
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/image_rect_color" to="$(arg rgb)/image" />
<remap from="rgb/camera_info" to="$(arg rgb)/camera_info" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_rect" />
<remap from="depth_registered/points" to="$(arg depth_registered)/points" />
</node>
</launch>
|
