From 8a81d30428b4279803bd8fdf04a29325cbbabb08 Mon Sep 17 00:00:00 2001 From: Joe Dong Date: Wed, 23 Aug 2023 11:36:58 +0800 Subject: [PATCH] Add missing params --- orbbec_camera/launch/gemini2.launch.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py index 741f8e02..91c58c23 100644 --- a/orbbec_camera/launch/gemini2.launch.py +++ b/orbbec_camera/launch/gemini2.launch.py @@ -47,6 +47,14 @@ def generate_launch_description(): DeclareLaunchArgument('ir_qos', default_value='default'), DeclareLaunchArgument('ir_camera_info_qos', default_value='default'), DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), + DeclareLaunchArgument('enable_accel', default_value='false'), + DeclareLaunchArgument('accel_rate', default_value='100hz'), + DeclareLaunchArgument('accel_range', default_value='4g'), + DeclareLaunchArgument('enable_gyro', default_value='false'), + DeclareLaunchArgument('gyro_rate', default_value='100hz'), + DeclareLaunchArgument('gyro_range', default_value='1000dps'), + DeclareLaunchArgument('liner_accel_cov', default_value='0.01'), + DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), DeclareLaunchArgument('publish_tf', default_value='true'), DeclareLaunchArgument('tf_publish_rate', default_value='10.0'), DeclareLaunchArgument('ir_info_url', default_value=''), @@ -56,6 +64,9 @@ def generate_launch_description(): DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_ldp', default_value='true'), + DeclareLaunchArgument('enable_soft_filter', default_value='true'), + DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), + DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), ] # Node configuration