i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 20:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

add read device usb port

Browse Source
This commit is contained in:
Joe Dong
2023-07-05 15:00:34 +08:00
parent 8c6d0212e1
commit 15ca0e347b
11 changed files with 134 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/gemini2.launch.xml
+11 -11
View File
@@ -2,13 +2,13 @@
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="true"/>
<arg name="depth_registration" 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_colored_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
@@ -38,13 +38,13 @@
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="enable_accel" default="false"/>
<!-- <arg name="accel_rate" default="100hz"/>
<arg name="accel_rate" default="100hz"/>
<arg name="accel_range" default="4g"/>
<arg name="enable_gyro" default="false"/>
<arg name="gyro_rate" default="100hz"/>
<arg name="gyro_range" default="1000dps"/>
<arg name="liner_accel_cov" default="0.01"/>
<arg name="angular_vel_cov" default="0.01"/> -->
<arg name="angular_vel_cov" default="0.01"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
@@ -101,14 +101,14 @@
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="enable_ir_auto_exposure" value="$(var enable_ir_auto_exposure)"/>
<!-- <param name="enable_accel" value="$(var enable_accel)" />
<param name="accel_rate" value="$(var accel_rate)" />
<param name="accel_range" value="$(var accel_range)" />
<param name="enable_gyro" value="$(var enable_gyro)" />
<param name="gyro_rate" value="$(var gyro_rate)" />
<param name="gyro_range" value="$(var gyro_range)" />
<param name="enable_accel" value="$(var enable_accel)"/>
<param name="accel_rate" value="$(var accel_rate)"/>
<param name="accel_range" value="$(var accel_range)"/>
<param name="enable_gyro" value="$(var enable_gyro)"/>
<param name="gyro_rate" value="$(var gyro_rate)"/>
<param name="gyro_range" value="$(var gyro_range)"/>
<param name="liner_accel_cov" value="$(var liner_accel_cov)"/>
<param name="angular_vel_cov" value="$(var angular_vel_cov)"/> -->
<param name="angular_vel_cov" value="$(var angular_vel_cov)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>