mirror of
https://github.com/6-robot/wpb_home.git
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113 lines
6.6 KiB
XML
113 lines
6.6 KiB
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
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<arg name="gui" default="false" />
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<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/obj_detect.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
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</node>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<node pkg="wpb_home_tutorials" type="wpb_home_obj_detect" name="wpb_home_obj_detect" output="screen"/>
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<!--- Run Kinect -->
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<!--************************ kinect ************************-->
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<arg name="base_name" default="kinect2"/>
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<arg name="sensor" default=""/>
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<arg name="publish_tf" default="false"/>
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<arg name="base_name_tf" default="$(arg base_name)"/>
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<arg name="fps_limit" default="-1.0"/>
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<arg name="calib_path" default="$(find kinect2_bridge)/data/"/>
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<arg name="use_png" default="false"/>
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<arg name="jpeg_quality" default="90"/>
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<arg name="png_level" default="1"/>
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<arg name="depth_method" default="cpu"/>
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<arg name="depth_device" default="-1"/>
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<arg name="reg_method" default="cpu"/>
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<arg name="reg_device" default="-1"/>
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<arg name="max_depth" default="12.0"/>
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<arg name="min_depth" default="0.1"/>
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<arg name="queue_size" default="5"/>
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<arg name="bilateral_filter" default="true"/>
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<arg name="edge_aware_filter" default="true"/>
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<arg name="worker_threads" default="4"/>
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<arg name="machine" default="localhost"/>
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<arg name="nodelet_manager" default="$(arg base_name)"/>
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<arg name="start_manager" default="true"/>
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<arg name="use_machine" default="true"/>
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<arg name="respawn" default="true"/>
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<arg name="use_nodelet" default="true"/>
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<arg name="output" default="log"/>
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<machine name="localhost" address="localhost" if="$(arg use_machine)"/>
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<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager"
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if="$(arg start_manager)" machine="$(arg machine)" />
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<!-- Nodelet version of kinect2_bridge -->
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<node pkg="nodelet" type="nodelet" name="$(arg base_name)_bridge" machine="$(arg machine)"
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args="load kinect2_bridge/kinect2_bridge_nodelet $(arg nodelet_manager)"
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respawn="$(arg respawn)" output="$(arg output)" if="$(arg use_nodelet)">
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<param name="base_name" type="str" value="$(arg base_name)"/>
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<param name="sensor" type="str" value="$(arg sensor)"/>
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<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
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<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
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<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
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<param name="calib_path" type="str" value="$(arg calib_path)"/>
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<param name="use_png" type="bool" value="$(arg use_png)"/>
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<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
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<param name="png_level" type="int" value="$(arg png_level)"/>
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<param name="depth_method" type="str" value="$(arg depth_method)"/>
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<param name="depth_device" type="int" value="$(arg depth_device)"/>
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<param name="reg_method" type="str" value="$(arg reg_method)"/>
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<param name="reg_device" type="int" value="$(arg reg_device)"/>
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<param name="max_depth" type="double" value="$(arg max_depth)"/>
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<param name="min_depth" type="double" value="$(arg min_depth)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
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<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
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<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
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</node>
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<!-- Node version of kinect2_bridge -->
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<node pkg="kinect2_bridge" type="kinect2_bridge" name="$(arg base_name)_bridge" machine="$(arg machine)"
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respawn="$(arg respawn)" output="$(arg output)" unless="$(arg use_nodelet)">
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<param name="base_name" type="str" value="$(arg base_name)"/>
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<param name="sensor" type="str" value="$(arg sensor)"/>
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<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
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<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
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<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
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<param name="calib_path" type="str" value="$(arg calib_path)"/>
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<param name="use_png" type="bool" value="$(arg use_png)"/>
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<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
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<param name="png_level" type="int" value="$(arg png_level)"/>
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<param name="depth_method" type="str" value="$(arg depth_method)"/>
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<param name="depth_device" type="int" value="$(arg depth_device)"/>
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<param name="reg_method" type="str" value="$(arg reg_method)"/>
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<param name="reg_device" type="int" value="$(arg reg_device)"/>
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<param name="max_depth" type="double" value="$(arg max_depth)"/>
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<param name="min_depth" type="double" value="$(arg min_depth)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
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<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
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<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
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</node>
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<!-- qhd point cloud (960 x 540) -->
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<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_qhd" machine="$(arg machine)"
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args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
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<remap from="rgb/camera_info" to="$(arg base_name)/qhd/camera_info"/>
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<remap from="rgb/image_rect_color" to="$(arg base_name)/qhd/image_color_rect"/>
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<remap from="depth_registered/image_rect" to="$(arg base_name)/qhd/image_depth_rect"/>
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<remap from="depth_registered/points" to="$(arg base_name)/qhd/points"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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</node>
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<!--************************ end ************************-->
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</launch>
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