| <launch> |
| <!-- unique camera name--> |
| <arg name="camera_name" default="camera"/> |
| <!-- Hardware depth registration --> |
| <arg name="depth_align" default="false"/> |
| <arg name="serial_number" default=""/> |
| <arg name="device_num" default="1"/> |
| <arg name="vendor_id" default="0x2bc5"/> |
| <arg name="product_id" default=""/> |
| <arg name="enable_point_cloud" default="true"/> |
| <arg name="enable_point_cloud_xyzrgb" default="false"/> |
| <arg name="connection_delay" default="100"/> |
| <arg name="color_width" default="640"/> |
| <arg name="color_height" default="480"/> |
| <arg name="color_fps" default="30"/> |
| <arg name="enable_color" default="true"/> |
| <arg name="flip_color" default="false"/> |
| <arg name="color_format" default="RGB"/> |
| <arg name="depth_width" default="640"/> |
| <arg name="depth_height" default="480"/> |
| <arg name="depth_fps" default="30"/> |
| <arg name="enable_depth" default="true"/> |
| <arg name="flip_depth" default="false"/> |
| <arg name="depth_format" default="Y11"/> |
| <arg name="ir_width" default="640"/> |
| <arg name="ir_height" default="480"/> |
| <arg name="ir_fps" default="30"/> |
| <arg name="enable_ir" default="true"/> |
| <arg name="ir_format" default="Y10"/> |
| <arg name="flip_ir" default="false"/> |
| <arg name="publish_tf" default="true"/> |
| <arg name="tf_publish_rate" default="10.0"/> |
| <arg name="ir_info_uri" default=""/> |
| <arg name="color_info_uri" default=""/> |
| <arg name="color_roi_x" default="-1"/> |
| <arg name="color_roi_y" default="-1"/> |
| <arg name="color_roi_width" default="-1"/> |
| <arg name="color_roi_height" default="-1"/> |
| <arg name="depth_roi_x" default="-1"/> |
| <arg name="depth_roi_y" default="-1"/> |
| <arg name="depth_roi_width" default="-1"/> |
| <arg name="depth_roi_height" default="-1"/> |
| <arg name="depth_scale" default="1"/> |
| <arg name="color_depth_synchronization" default="false"/> |
| <arg name="use_uvc_camera" default="false"/> |
| <arg name="uvc_vendor_id" default="0x2bc5"/> |
| <arg name="uvc_product_id" default="0x050b"/> |
| <arg name="uvc_retry_count" default="100"/> |
| <arg name="uvc_camera_format" default="mjpeg"/> |
| <arg name="uvc_flip" default="false"/> |
| <arg name="oni_log_level" default="verbose"/> |
| <arg name="oni_log_to_console" default="false"/> |
| <arg name="oni_log_to_file" default="false"/> |
| <arg name="enable_d2c_viewer" default="false"/> |
| <arg name="enable_publish_extrinsic" default="false"/> |
| <group ns="$(arg camera_name)"> |
| <node name="camera" pkg="astra_camera" type="astra_camera_node" output="screen"> |
| <param name="camera_name" value="$(arg camera_name)"/> |
| <param name="depth_align" value="$(arg depth_align)"/> |
| <param name="serial_number" type="string" value="$(arg serial_number)"/> |
| <param name="device_num" value="$(arg device_num)"/> |
| <param name="vendor_id" value="$(arg vendor_id)"/> |
| <param name="product_id" value="$(arg product_id)"/> |
| <param name="enable_point_cloud" value="$(arg enable_point_cloud)"/> |
| <param name="enable_point_cloud_xyzrgb" value="$(arg enable_point_cloud_xyzrgb)"/> |
| <param name="connection_delay" value="$(arg connection_delay)"/> |
| <param name="color_width" value="$(arg color_width)"/> |
| <param name="color_height" value="$(arg color_height)"/> |
| <param name="color_fps" value="$(arg color_fps)"/> |
| <param name="enable_color" value="$(arg enable_color)"/> |
| <param name="color_format" value="$(arg color_format)"/> |
| <param name="flip_color" value="$(arg flip_color)"/> |
| <param name="depth_width" value="$(arg depth_width)"/> |
| <param name="depth_height" value="$(arg depth_height)"/> |
| <param name="depth_fps" value="$(arg depth_fps)"/> |
| <param name="flip_depth" value="$(arg flip_depth)"/> |
| <param name="enable_depth" value="$(arg enable_depth)"/> |
| <param name="depth_format" value="$(arg depth_format)"/> |
| <param name="ir_width" value="$(arg ir_width)"/> |
| <param name="ir_height" value="$(arg ir_height)"/> |
| <param name="ir_fps" value="$(arg ir_fps)"/> |
| <param name="enable_ir" value="$(arg enable_ir)"/> |
| <param name="flip_ir" value="$(arg flip_ir)"/> |
| <param name="ir_format" value="$(arg ir_format)"/> |
| <param name="publish_tf" value="$(arg publish_tf)"/> |
| <param name="tf_publish_rate" value="$(arg tf_publish_rate)"/> |
| <param name="ir_info_uri" value="$(arg ir_info_uri)"/> |
| <param name="color_info_uri" value="$(arg color_info_uri)"/> |
| <param name="color_roi_x" value="$(arg color_roi_x)"/> |
| <param name="color_roi_y" value="$(arg color_roi_y)"/> |
| <param name="color_roi_width" value="$(arg color_roi_width)"/> |
| <param name="color_roi_height" value="$(arg color_roi_height)"/> |
| <param name="depth_roi_x" value="$(arg depth_roi_x)"/> |
| <param name="depth_roi_y" value="$(arg depth_roi_y)"/> |
| <param name="depth_roi_width" value="$(arg depth_roi_width)"/> |
| <param name="depth_roi_height" value="$(arg depth_roi_height)"/> |
| <param name="depth_scale" value="$(arg depth_scale)"/> |
| <param name="color_depth_synchronization" value="$(arg color_depth_synchronization)"/> |
| <param name="use_uvc_camera" value="$(arg use_uvc_camera)"/> |
| <param name="uvc_vendor_id" value="$(arg uvc_vendor_id)"/> |
| <param name="uvc_product_id" value="$(arg uvc_product_id)"/> |
| <param name="uvc_retry_count" value="$(arg uvc_retry_count)"/> |
| <param name="uvc_camera_format" value="$(arg uvc_camera_format)"/> |
| <param name="uvc_flip" value="$(arg uvc_flip)"/> |
| <param name="oni_log_level" value="$(arg oni_log_level)"/> |
| <param name="oni_log_to_console" value="$(arg oni_log_to_console)"/> |
| <param name="oni_log_to_file" value="$(arg oni_log_to_file)"/> |
| <param name="enable_d2c_viewer" value="$(arg enable_d2c_viewer)"/> |
| <param name="enable_publish_extrinsic" value="$(arg enable_publish_extrinsic)"/> |
| <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/> |
| </node> |
| </group> |
| </launch> |
|
|
