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add soft filter&& AE switch

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This commit is contained in:
Joe Dong
2023-03-20 10:12:52 +08:00
parent 0d318d7a2a
commit 70ecc28dec
19 changed files with 117 additions and 2 deletions
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orbbec_camera/launch/astra.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/astra_adv.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/astra_embedded_s.launch.xml
+6
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@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="400"/> <arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/astra_mini.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/astra_mini_pro.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/astra_pro_plus.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/astra_stereo_u3.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="400"/> <arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/dabai.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/> <arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/dabai_d1.launch.xml
+4
View File
@@ -26,10 +26,12 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -57,10 +59,12 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/> <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"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/dabai_dcw.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/dabai_dw.launch.xml
+4
View File
@@ -25,10 +25,12 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -56,10 +58,12 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/deeya.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/> <arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/femto.launch.xml
+7 -2
View File
@@ -14,11 +14,12 @@
<arg name="color_width" default="640"/> <arg name="color_width" default="640"/>
<arg name="color_height" default="480"/> <arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/> <arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/> <arg name="color_format" default="RGB888"/>
<arg name="enable_color" default="true"/> <arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,7 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -64,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -80,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -87,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/femto_mega.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="576"/> <arg name="depth_height" default="576"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/femto_w.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/gemini.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/> <arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/gemini2.launch.xml
+14
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_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_width" default="640"/>
<arg name="depth_height" default="400"/> <arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -43,6 +45,11 @@
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_hardware_d2d" default="true"/> <arg name="enable_hardware_d2d" default="true"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<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"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -64,6 +71,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/> <param name="color_camera_info_qos" value="$(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_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -80,6 +88,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_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="$(var publish_tf)"/> <param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -88,6 +97,11 @@
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_hardware_d2d" value="$(var enable_hardware_d2d)"/> <param name="enable_hardware_d2d" value="$(var enable_hardware_d2d)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="sync_mode" value="$(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="$(var device_trigger_signal_out_delay)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/gemini_e.launch.xml
+6
View File
@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/> <arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/> <arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/> <arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/> <arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/> <arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/> <arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/> <arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/> <arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
@@ -42,6 +44,7 @@
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/> <arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_d2c_viewer" default="false"/> <arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -63,6 +66,7 @@
<param name="flip_color" value="$(var flip_color)"/> <param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/> <param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_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="$(var depth_width)"/> <param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/> <param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/> <param name="depth_fps" value="$(var depth_fps)"/>
@@ -79,6 +83,7 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
@@ -86,6 +91,7 @@
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/> <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/> <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/> <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node> </node>
</group> </group>
orbbec_camera/launch/gemini_e_lite.launch.xml
+4
View File
@@ -26,10 +26,12 @@
<arg name="flip_ir" default="false"/> <arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/> <arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_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="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/> <arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/> <arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/> <arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<group> <group>
<push-ros-namespace namespace="$(var camera_name)"/> <push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen"> <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -58,10 +60,12 @@
<param name="flip_ir" value="$(var flip_ir)"/> <param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/> <param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/> <param name="ir_camera_info_qos" value="$(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="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/> <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/> <param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/> <param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
</node> </node>
</group> </group>
</launch> </launch>