From 6215df69c63a020cb13a25e5f54ad3f665b83275 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Mon, 8 May 2023 16:37:03 +0800
Subject: [PATCH] add more launch file

---
 orbbec_camera/launch/dabai_dcw.launch.xml |  4 +-
 orbbec_camera/launch/dabai_pro.launch.xml | 71 +++++++++++++++++++++++
 orbbec_camera/launch/gemini_e.launch.xml  |  4 +-
 3 files changed, 75 insertions(+), 4 deletions(-)
 create mode 100644 orbbec_camera/launch/dabai_pro.launch.xml

diff --git a/orbbec_camera/launch/dabai_dcw.launch.xml b/orbbec_camera/launch/dabai_dcw.launch.xml
index 23e8ab58..135577ae 100644
--- a/orbbec_camera/launch/dabai_dcw.launch.xml
+++ b/orbbec_camera/launch/dabai_dcw.launch.xml
@@ -12,7 +12,7 @@
     <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_height" default="360"/>
     <arg name="color_fps" default="30"/>
     <arg name="color_format" default="MJPG"/>
     <arg name="enable_color" default="true"/>
@@ -21,7 +21,7 @@
     <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_height" default="360"/>
     <arg name="depth_fps" default="30"/>
     <arg name="depth_format" default="Y11"/>
     <arg name="enable_depth" default="true"/>
diff --git a/orbbec_camera/launch/dabai_pro.launch.xml b/orbbec_camera/launch/dabai_pro.launch.xml
new file mode 100644
index 00000000..880a41d3
--- /dev/null
+++ b/orbbec_camera/launch/dabai_pro.launch.xml
@@ -0,0 +1,71 @@
+<launch>
+    <!-- unique camera name-->
+    <arg name="camera_name" default="camera"/>
+    <!-- Hardware depth registration -->
+    ]
+    <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="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"/>
+    <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="$(var serial_number)"/>
+            <param name="device_num" value="$(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="$(var enable_soft_filter)"/>
+            <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
+        </node>
+    </group>
+</launch>
diff --git a/orbbec_camera/launch/gemini_e.launch.xml b/orbbec_camera/launch/gemini_e.launch.xml
index 23e8ab58..135577ae 100644
--- a/orbbec_camera/launch/gemini_e.launch.xml
+++ b/orbbec_camera/launch/gemini_e.launch.xml
@@ -12,7 +12,7 @@
     <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_height" default="360"/>
     <arg name="color_fps" default="30"/>
     <arg name="color_format" default="MJPG"/>
     <arg name="enable_color" default="true"/>
@@ -21,7 +21,7 @@
     <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_height" default="360"/>
     <arg name="depth_fps" default="30"/>
     <arg name="depth_format" default="Y11"/>
     <arg name="enable_depth" default="true"/>