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remove xml launch file

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Joe Dong
2023-09-06 10:00:37 +08:00
parent 784e3ebca9
commit 1f2c91abd3
20 changed files with 0 additions and 1913 deletions
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orbbec_camera/launch/astra.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="RGB"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra2.launch.xml
-102
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@@ -1,102 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="1280"/>
<arg name="color_height" default="720"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="800"/>
<arg name="depth_height" default="600"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="RLE"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="800"/>
<arg name="ir_height" default="600"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y8"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_adv.launch.xml
-103
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@@ -1,103 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="usb_port" default=""/>
<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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points"
to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_embedded_s.launch.xml
-102
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_stereo_u3.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai.launch.xml
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@@ -1,102 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_d1.launch.xml
-74
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@@ -1,74 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_dcw.launch.xml
-103
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@@ -1,103 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="360"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="360"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_dw.launch.xml
-74
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@@ -1,74 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_pro.launch.xml
-74
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@@ -1,74 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="serial_number" default=""/>
<arg name="usb_port" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/deeya.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/femto.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="RGB888"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/femto_mega.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="1280"/>
<arg name="color_height" default="720"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="576"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="576"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini.launch.xml
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@@ -1,102 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini2.launch.xml
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@@ -1,137 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y14"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y8"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<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_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_hardware_d2d" default="true"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_ldp" default="true"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="soft_filter_max_diff" default="-1"/>
<arg name="soft_filter_speckle_size" default="-1"/>
<arg name="sync_mode" default="free_run"/>
<arg name="depth_delay_us" default="0"/>
<arg name="color_delay_us" default="0"/>
<arg name="trigger2image_delay_us" default="0"/>
<arg name="trigger_signal_output_delay_us" default="0"/>
<arg name="trigger_signal_output_enabled" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="liner_accel_cov" value="$(var liner_accel_cov)"/>
<param name="angular_vel_cov" value="$(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="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_hardware_d2d" value="$(var enable_hardware_d2d)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="soft_filter_max_diff" value="$(var soft_filter_max_diff)"/>
<param name="soft_filter_speckle_size" value="$(var soft_filter_speckle_size)"/>
<param name="sync_mode" value="$(arg sync_mode)"/>
<param name="depth_delay_us" value="$(arg depth_delay_us)"/>
<param name="color_delay_us" value="$(arg color_delay_us)"/>
<param name="trigger2image_delay_us" value="$(arg trigger2image_delay_us)"/>
<param name="trigger_signal_output_delay_us" value="$(arg trigger_signal_output_delay_us)"/>
<param name="trigger_signal_output_enabled" value="$(arg trigger_signal_output_enabled)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini2L.launch.xml
-134
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@@ -1,134 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<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="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="1280"/>
<arg name="color_height" default="720"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="1280"/>
<arg name="depth_height" default="800"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y14"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="1280"/>
<arg name="ir_height" default="800"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y8"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<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_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_hardware_d2d" default="true"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_ldp" default="true"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="soft_filter_max_diff" default="-1"/>
<arg name="soft_filter_speckle_size" default="-1"/>
<arg name="sync_mode" default="free_run"/>
<arg name="depth_delay_us" default="0"/>
<arg name="color_delay_us" default="0"/>
<arg name="trigger2image_delay_us" default="0"/>
<arg name="trigger_signal_output_delay_us" default="0"/>
<arg name="trigger_signal_output_enabled" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="liner_accel_cov" value="$(var liner_accel_cov)"/>
<param name="angular_vel_cov" value="$(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="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_hardware_d2d" value="$(var enable_hardware_d2d)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="soft_filter_max_diff" value="$(var soft_filter_max_diff)"/>
<param name="soft_filter_speckle_size" value="$(var soft_filter_speckle_size)"/>
<param name="sync_mode" value="$(arg sync_mode)"/>
<param name="depth_delay_us" value="$(arg depth_delay_us)"/>
<param name="color_delay_us" value="$(arg color_delay_us)"/>
<param name="trigger2image_delay_us" value="$(arg trigger2image_delay_us)"/>
<param name="trigger_signal_output_delay_us" value="$(arg trigger_signal_output_delay_us)"/>
<param name="trigger_signal_output_enabled" value="$(arg trigger_signal_output_enabled)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini_e.launch.xml
-102
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@@ -1,102 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" 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="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="360"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="360"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini_e_lite.launch.xml
-75
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@@ -1,75 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="enable_ldp" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="usb_port" value="$(var usb_port)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<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="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
</node>
</group>
</launch>
orbbec_camera/launch/multi_camera.launch.xml
-29
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@@ -1,29 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="3d_sensor" default="gemini2"/>
<!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/>
<arg name="camera1_usb_port" default="2-3.3"/>
<arg name="camera2_usb_port" default="1-4.4"/>
<arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<group>
<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
<arg name="camera_name" value="camera_$(var camera1_prefix)"/>
<arg name="usb_port" value="$(var camera1_usb_port)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<group>
<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
<arg name="camera_name" value="camera_$(var camera2_prefix)"/>
<arg name="usb_port" value="$(var camera2_usb_port)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch>
orbbec_camera/launch/ob_camera.launch.xml
-90
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@@ -1,90 +0,0 @@
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<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="false"/>
<arg name="point_cloud_qos" default="default"/>
<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="color_format" default="RGB"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>