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add d2c viewer topic

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This commit is contained in:
Joe Dong
2023-03-02 16:37:13 +08:00
parent 95f40061a9
commit 576a276eba
16 changed files with 35 additions and 2 deletions
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orbbec_camera/launch/gemini2.launch.xml
+4 -2
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@@ -2,13 +2,13 @@
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="depth_registration" default="true"/>
<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="enable_colored_point_cloud" default="true"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
@@ -42,6 +42,7 @@
<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"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -86,6 +87,7 @@
<param name="log_level" value="$(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="$(var enable_d2c_viewer)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>