mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
gemini2 L launch file
This commit is contained in:
Joe Dong
@@ -305,6 +305,7 @@ The following are the launch parameters available:
|
|||||||
| gemini | gemini.launch.xml |
|
| gemini | gemini.launch.xml |
|
||||||
| gemini | gemini.launch.xml |
|
| gemini | gemini.launch.xml |
|
||||||
| gemini2 / dabai DCL | gemini2.launch.xml |
|
| gemini2 / dabai DCL | gemini2.launch.xml |
|
||||||
|
| gemini2L | gemini2L.launch.xml |
|
||||||
| gemini e | gemini_e.launch.xml |
|
| gemini e | gemini_e.launch.xml |
|
||||||
| gemini e lite | gemini_e_lite.launch.xml |
|
| gemini e lite | gemini_e_lite.launch.xml |
|
||||||
|
|
||||||
|
|||||||
@@ -270,6 +270,32 @@ ros2 launch orbbec_camera multi_camera.launch.xml
|
|||||||
- `depth_registration`: 是否启用将深度帧硬件对齐到彩色帧。当`enable_colored_point_cloud`设置为`true`时，此字段也要设置为`true`。
|
- `depth_registration`: 是否启用将深度帧硬件对齐到彩色帧。当`enable_colored_point_cloud`设置为`true`时，此字段也要设置为`true`。
|
||||||
- `enable_publish_extrinsic`: 是否启用发布外参.
|
- `enable_publish_extrinsic`: 是否启用发布外参.
|
||||||
|
|
||||||
|
## 启动文件
|
||||||
|
|
||||||
|
| product serials | launch file |
|
||||||
|
|---------------------|---------------------------|
|
||||||
|
| asta+ | astra_adv.launch.xml |
|
||||||
|
| astra mini | astra_mini.launch.xml |
|
||||||
|
| astra mini pro | astra_mini_pro.launch.xml |
|
||||||
|
| astra pro | astra_pro.launch.xml |
|
||||||
|
| astra stereo s | stereo_s_u3.launch.xml |
|
||||||
|
| dabai | dabai.launch.xml |
|
||||||
|
| dabai d1 | dabai_d1.launch.xml |
|
||||||
|
| dabai dcw | dabai_dcw.launch.xml |
|
||||||
|
| dabai dw | dabai_dw.launch.xml |
|
||||||
|
| dabai pro | dabai_pro.launch.xml |
|
||||||
|
| deeya | deeya.launch.xml |
|
||||||
|
| femto | femto.launch.xml |
|
||||||
|
| femto mega | femto_mega.launch.xml |
|
||||||
|
| femto w | femto_w.launch.xml |
|
||||||
|
| gemini | gemini.launch.xml |
|
||||||
|
| gemini | gemini.launch.xml |
|
||||||
|
| gemini2 / dabai DCL | gemini2.launch.xml |
|
||||||
|
| gemini2L | gemini2L.launch.xml |
|
||||||
|
| gemini e | gemini_e.launch.xml |
|
||||||
|
| gemini e lite | gemini_e_lite.launch.xml |
|
||||||
|
|
||||||
|
|
||||||
## DDS Tuning
|
## DDS Tuning
|
||||||
|
|
||||||
默认的DDS设置（humble）可能不适用于数据传输。不同的DDS设置可能具有不同的性能。在此示例中，我们使用CycloneDDS。有关更详细的信息，请参考[ROS DDS Tuning](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html)。
|
默认的DDS设置（humble）可能不适用于数据传输。不同的DDS设置可能具有不同的性能。在此示例中，我们使用CycloneDDS。有关更详细的信息，请参考[ROS DDS Tuning](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html)。
|
||||||
|
|||||||
@@ -0,0 +1,132 @@
|
|||||||
|
<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="close"/>
|
||||||
|
<arg name="ir_trigger_signal_in_delay" default="0"/>
|
||||||
|
<arg name="rgb_trigger_signal_in_delay" default="0"/>
|
||||||
|
<arg name="device_trigger_signal_out_delay" default="0"/>
|
||||||
|
<arg name="sync_signal_trigger_out" 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="$(var soft_filter_speckle_size)"/>
|
||||||
|
<param name="sync_mode" value="$(var sync_mode)"/>
|
||||||
|
<param name="ir_trigger_signal_in_delay" value="$(var ir_trigger_signal_in_delay)"/>
|
||||||
|
<param name="rgb_trigger_signal_in_delay" value="$(var rgb_trigger_signal_in_delay)"/>
|
||||||
|
<param name="device_trigger_signal_out_delay" value="$(var device_trigger_signal_out_delay)"/>
|
||||||
|
<param name="sync_signal_trigger_out" value="$(var sync_signal_trigger_out)"/>
|
||||||
|
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
|
||||||
|
</node>
|
||||||
|
</group>
|
||||||
|
</launch>
|
||||||
Reference in New Issue
Block a user