mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-09 22:29:48 +08:00
add python launch file
This commit is contained in:
Joe Dong
@@ -1,102 +0,0 @@
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<launch>
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<!-- unique camera name-->
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<arg name="camera_name" default="camera"/>
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<!-- Hardware depth registration -->
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<arg name="depth_registration" default="false"/>
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<arg name="serial_number" default=""/>
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<arg name="device_num" default="1"/>
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<arg name="usb_port" default=""/>
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<arg name="vendor_id" default="0x2bc5"/>
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<arg name="product_id" default=""/>
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<arg name="enable_point_cloud" default="true"/>
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<arg name="enable_colored_point_cloud" default="false"/>
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<arg name="point_cloud_qos" default="default"/>
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<arg name="connection_delay" default="100"/>
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<arg name="color_width" default="640"/>
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<arg name="color_height" default="480"/>
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<arg name="color_fps" default="30"/>
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<arg name="color_format" default="RGB"/>
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<arg name="enable_color" default="true"/>
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<arg name="flip_color" default="false"/>
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<arg name="color_qos" default="default"/>
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<arg name="color_camera_info_qos" default="default"/>
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<arg name="enable_color_auto_exposure" default="true"/>
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<arg name="depth_width" default="640"/>
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<arg name="depth_height" default="480"/>
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<arg name="depth_fps" default="30"/>
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<arg name="depth_format" default="Y11"/>
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<arg name="enable_depth" default="true"/>
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<arg name="flip_depth" default="false"/>
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<arg name="depth_qos" default="default"/>
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<arg name="depth_camera_info_qos" default="default"/>
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<arg name="ir_width" default="640"/>
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<arg name="ir_height" default="480"/>
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<arg name="ir_fps" default="30"/>
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<arg name="ir_format" default="Y10"/>
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<arg name="enable_ir" default="true"/>
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<arg name="flip_ir" default="false"/>
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<arg name="ir_qos" default="default"/>
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<arg name="ir_camera_info_qos" default="default"/>
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<arg name="enable_ir_auto_exposure" default="true"/>
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<arg name="publish_tf" default="true"/>
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<arg name="tf_publish_rate" default="10.0"/>
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<arg name="ir_info_url" default=""/>
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<arg name="color_info_url" default=""/>
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<arg name="log_level" default="none"/>
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<arg name="enable_publish_extrinsic" default="false"/>
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<arg name="enable_d2c_viewer" default="false"/>
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<arg name="enable_soft_filter" default="true"/>
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<arg name="enable_ldp" default="true"/>
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<group>
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<push-ros-namespace namespace="$(var camera_name)"/>
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<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
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<param name="camera_name" value="$(var camera_name)"/>
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<param name="depth_registration" value="$(var depth_registration)"/>
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<param name="serial_number" value="$(var serial_number)"/>
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<param name="usb_port" value="$(var usb_port)"/>
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<param name="device_num" value="$(var device_num)"/>
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<param name="vendor_id" value="$(var vendor_id)"/>
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<param name="product_id" value="$(var product_id)"/>
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<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
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<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
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<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
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<param name="connection_delay" value="$(var connection_delay)"/>
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<param name="color_width" value="$(var color_width)"/>
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<param name="color_height" value="$(var color_height)"/>
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<param name="color_fps" value="$(var color_fps)"/>
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<param name="color_format" value="$(var color_format)"/>
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<param name="enable_color" value="$(var enable_color)"/>
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<param name="flip_color" value="$(var flip_color)"/>
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<param name="color_qos" value="$(var color_qos)"/>
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<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
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<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
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<param name="depth_width" value="$(var depth_width)"/>
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<param name="depth_height" value="$(var depth_height)"/>
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<param name="depth_fps" value="$(var depth_fps)"/>
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<param name="depth_format" value="$(var depth_format)"/>
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<param name="flip_depth" value="$(var flip_depth)"/>
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<param name="enable_depth" value="$(var enable_depth)"/>
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<param name="depth_qos" value="$(var depth_qos)"/>
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<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
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<param name="ir_width" value="$(var ir_width)"/>
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<param name="ir_height" value="$(var ir_height)"/>
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<param name="ir_fps" value="$(var ir_fps)"/>
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<param name="ir_format" value="$(var ir_format)"/>
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<param name="enable_ir" value="$(var enable_ir)"/>
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<param name="flip_ir" value="$(var flip_ir)"/>
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<param name="ir_qos" value="$(var ir_qos)"/>
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<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
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<param name="enable_ir_auto_exposure" value="$(var enable_ir_auto_exposure)"/>
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<param name="publish_tf" value="$(var publish_tf)"/>
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<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
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<param name="ir_info_url" value="$(var ir_info_url)"/>
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<param name="color_info_url" value="$(var color_info_url)"/>
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<param name="log_level" value="$(var log_level)"/>
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<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
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<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
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<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
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<param name="enable_ldp" value="$(var enable_ldp)"/>
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<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
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</node>
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</group>
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</launch>
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@@ -1,102 +0,0 @@
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<launch>
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<!-- unique camera name-->
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<arg name="camera_name" default="camera"/>
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<!-- Hardware depth registration -->
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<arg name="depth_registration" default="false"/>
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<arg name="serial_number" default=""/>
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<arg name="usb_port" default=""/>
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<arg name="device_num" default="1"/>
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<arg name="vendor_id" default="0x2bc5"/>
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<arg name="product_id" default=""/>
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<arg name="enable_point_cloud" default="true"/>
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<arg name="enable_colored_point_cloud" default="false"/>
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<arg name="point_cloud_qos" default="default"/>
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<arg name="connection_delay" default="100"/>
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<arg name="color_width" default="640"/>
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<arg name="color_height" default="480"/>
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<arg name="color_fps" default="30"/>
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<arg name="color_format" default="RGB888"/>
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<arg name="enable_color" default="true"/>
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<arg name="flip_color" default="false"/>
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<arg name="color_qos" default="default"/>
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<arg name="color_camera_info_qos" default="default"/>
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<arg name="enable_color_auto_exposure" default="true"/>
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<arg name="depth_width" default="640"/>
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<arg name="depth_height" default="480"/>
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<arg name="depth_fps" default="30"/>
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<arg name="depth_format" default="Y11"/>
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<arg name="enable_depth" default="true"/>
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<arg name="flip_depth" default="false"/>
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<arg name="depth_qos" default="default"/>
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<arg name="depth_camera_info_qos" default="default"/>
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<arg name="ir_width" default="640"/>
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<arg name="ir_height" default="480"/>
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<arg name="ir_fps" default="30"/>
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<arg name="ir_format" default="Y10"/>
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<arg name="enable_ir" default="true"/>
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<arg name="flip_ir" default="false"/>
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<arg name="ir_qos" default="default"/>
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<arg name="ir_camera_info_qos" default="default"/>
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<arg name="enable_ir_auto_exposure" default="true"/>
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<arg name="publish_tf" default="true"/>
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<arg name="tf_publish_rate" default="10.0"/>
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<arg name="ir_info_url" default=""/>
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<arg name="color_info_url" default=""/>
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<arg name="log_level" default="none"/>
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<arg name="enable_publish_extrinsic" default="false"/>
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<arg name="enable_d2c_viewer" default="false"/>
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<arg name="enable_soft_filter" default="true"/>
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<arg name="enable_ldp" default="true"/>
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<group>
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<push-ros-namespace namespace="$(var camera_name)"/>
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<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
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<param name="camera_name" value="$(var camera_name)"/>
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<param name="depth_registration" value="$(var depth_registration)"/>
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<param name="serial_number" value="$(var serial_number)"/>
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<param name="usb_port" value="$(var usb_port)"/>
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<param name="device_num" value="$(var device_num)"/>
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<param name="vendor_id" value="$(var vendor_id)"/>
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<param name="product_id" value="$(var product_id)"/>
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<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
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<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
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<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
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<param name="connection_delay" value="$(var connection_delay)"/>
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<param name="color_width" value="$(var color_width)"/>
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<param name="color_height" value="$(var color_height)"/>
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<param name="color_fps" value="$(var color_fps)"/>
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<param name="color_format" value="$(var color_format)"/>
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<param name="enable_color" value="$(var enable_color)"/>
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<param name="flip_color" value="$(var flip_color)"/>
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<param name="color_qos" value="$(var color_qos)"/>
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<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
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<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
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<param name="depth_width" value="$(var depth_width)"/>
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<param name="depth_height" value="$(var depth_height)"/>
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<param name="depth_fps" value="$(var depth_fps)"/>
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<param name="depth_format" value="$(var depth_format)"/>
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<param name="flip_depth" value="$(var flip_depth)"/>
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<param name="enable_depth" value="$(var enable_depth)"/>
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<param name="depth_qos" value="$(var depth_qos)"/>
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<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
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<param name="ir_width" value="$(var ir_width)"/>
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<param name="ir_height" value="$(var ir_height)"/>
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<param name="ir_fps" value="$(var ir_fps)"/>
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<param name="ir_format" value="$(var ir_format)"/>
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<param name="enable_ir" value="$(var enable_ir)"/>
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<param name="flip_ir" value="$(var flip_ir)"/>
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<param name="ir_qos" value="$(var ir_qos)"/>
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<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
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<param name="enable_ir_auto_exposure" value="$(var enable_ir_auto_exposure)"/>
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<param name="publish_tf" value="$(var publish_tf)"/>
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<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
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<param name="ir_info_url" value="$(var ir_info_url)"/>
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<param name="color_info_url" value="$(var color_info_url)"/>
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<param name="log_level" value="$(var log_level)"/>
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<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
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<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
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<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
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<param name="enable_ldp" value="$(var enable_ldp)"/>
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<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
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</node>
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</group>
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</launch>
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@@ -1,101 +0,0 @@
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<launch>
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<!-- unique camera name-->
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<arg name="camera_name" default="camera"/>
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<!-- Hardware depth registration -->
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<arg name="depth_registration" default="false"/>
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<arg name="serial_number" default=""/>
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<arg name="usb_port" default=""/>
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<arg name="device_num" default="1"/>
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<arg name="vendor_id" default="0x2bc5"/>
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<arg name="product_id" default=""/>
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<arg name="enable_point_cloud" default="true"/>
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<arg name="enable_colored_point_cloud" default="false"/>
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<arg name="point_cloud_qos" default="default"/>
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<arg name="connection_delay" default="100"/>
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<arg name="color_width" default="640"/>
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<arg name="color_height" default="480"/>
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<arg name="color_fps" default="30"/>
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<arg name="color_format" default="RGB"/>
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<arg name="enable_color" default="true"/>
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<arg name="flip_color" default="false"/>
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<arg name="color_qos" default="default"/>
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<arg name="color_camera_info_qos" default="default"/>
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<arg name="enable_color_auto_exposure" default="true"/>
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<arg name="depth_width" default="640"/>
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<arg name="depth_height" default="480"/>
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<arg name="depth_fps" default="30"/>
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<arg name="depth_format" default="Y11"/>
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<arg name="enable_depth" default="true"/>
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<arg name="flip_depth" default="false"/>
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<arg name="depth_qos" default="default"/>
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<arg name="depth_camera_info_qos" default="default"/>
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<arg name="ir_width" default="640"/>
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<arg name="ir_height" default="480"/>
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<arg name="ir_fps" default="30"/>
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<arg name="ir_format" default="Y10"/>
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<arg name="enable_ir" default="true"/>
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<arg name="flip_ir" default="false"/>
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<arg name="ir_qos" default="default"/>
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<arg name="ir_camera_info_qos" default="default"/>
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<arg name="enable_ir_auto_exposure" default="true"/>
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<arg name="publish_tf" default="true"/>
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<arg name="tf_publish_rate" default="10.0"/>
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<arg name="ir_info_url" default=""/>
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<arg name="color_info_url" default=""/>
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<arg name="log_level" default="none"/>
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<arg name="enable_publish_extrinsic" default="false"/>
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<arg name="enable_d2c_viewer" default="false"/>
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<arg name="enable_soft_filter" default="true"/>
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<arg name="enable_ldp" default="true"/>
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<group>
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<push-ros-namespace namespace="$(var camera_name)"/>
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<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
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<param name="camera_name" value="$(var camera_name)"/>
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<param name="depth_registration" value="$(var depth_registration)"/>
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<param name="serial_number" value="$(var serial_number)"/>
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<param name="device_num" value="$(var device_num)"/>
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<param name="vendor_id" value="$(var vendor_id)"/>
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<param name="product_id" value="$(var product_id)"/>
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<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
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<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
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<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
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<param name="connection_delay" value="$(var connection_delay)"/>
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<param name="color_width" value="$(var color_width)"/>
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<param name="color_height" value="$(var color_height)"/>
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<param name="color_fps" value="$(var color_fps)"/>
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<param name="color_format" value="$(var color_format)"/>
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<param name="enable_color" value="$(var enable_color)"/>
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<param name="flip_color" value="$(var flip_color)"/>
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<param name="color_qos" value="$(var color_qos)"/>
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<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
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<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
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<param name="depth_width" value="$(var depth_width)"/>
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<param name="depth_height" value="$(var depth_height)"/>
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<param name="depth_fps" value="$(var depth_fps)"/>
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<param name="depth_format" value="$(var depth_format)"/>
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<param name="flip_depth" value="$(var flip_depth)"/>
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<param name="enable_depth" value="$(var enable_depth)"/>
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<param name="depth_qos" value="$(var depth_qos)"/>
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<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
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<param name="ir_width" value="$(var ir_width)"/>
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<param name="ir_height" value="$(var ir_height)"/>
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<param name="ir_fps" value="$(var ir_fps)"/>
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<param name="ir_format" value="$(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="color_info_url" value="$(var color_info_url)"/>
|
|
||||||
<param name="log_level" value="$(var log_level)"/>
|
|
||||||
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
|
|
||||||
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
|
|
||||||
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
|
|
||||||
<param name="enable_ldp" value="$(var enable_ldp)"/>
|
|
||||||
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
|
|
||||||
</node>
|
|
||||||
</group>
|
|
||||||
</launch>
|
|
||||||
@@ -1,102 +0,0 @@
|
|||||||
<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="usb_port" 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="640"/>
|
|
||||||
<arg name="color_height" default="480"/>
|
|
||||||
<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="640"/>
|
|
||||||
<arg name="depth_height" default="480"/>
|
|
||||||
<arg name="depth_fps" default="30"/>
|
|
||||||
<arg name="depth_format" default="Y16"/>
|
|
||||||
<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="480"/>
|
|
||||||
<arg name="ir_fps" default="30"/>
|
|
||||||
<arg name="ir_format" default="Y16"/>
|
|
||||||
<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="color_info_url" default=""/>
|
|
||||||
<arg name="log_level" default="none"/>
|
|
||||||
<arg name="enable_publish_extrinsic" default="false"/>
|
|
||||||
<arg name="enable_d2c_viewer" default="false"/>
|
|
||||||
<arg name="enable_soft_filter" default="true"/>
|
|
||||||
<arg name="enable_ldp" 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="depth_registration" value="$(var depth_registration)"/>
|
|
||||||
<param name="serial_number" value="$(var serial_number)"/>
|
|
||||||
<param name="usb_port" value="$(var usb_port)"/>
|
|
||||||
<param name="device_num" value="$(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="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_d2c_viewer" value="$(var enable_d2c_viewer)"/>
|
|
||||||
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
|
|
||||||
<param name="enable_ldp" value="$(var enable_ldp)"/>
|
|
||||||
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
|
|
||||||
</node>
|
|
||||||
</group>
|
|
||||||
</launch>
|
|
||||||
@@ -1,5 +1,6 @@
|
|||||||
#include "orbbec_camera/gst_decoder.h"
|
#include "orbbec_camera/gst_decoder.h"
|
||||||
#include <rclcpp/rclcpp.hpp>
|
#include <rclcpp/rclcpp.hpp>
|
||||||
|
#include <utility>
|
||||||
#include <gst/app/gstappsrc.h>
|
#include <gst/app/gstappsrc.h>
|
||||||
#include <gst/app/gstappsink.h>
|
#include <gst/app/gstappsink.h>
|
||||||
#include <glog/logging.h>
|
#include <glog/logging.h>
|
||||||
@@ -20,9 +21,12 @@ std::string hwDecoderToString(HWDecoder hw_decoder) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
GstreamerMjpegDecoder::GstreamerMjpegDecoder(int width, int height, HWDecoder hw_decoder)
|
GstreamerMjpegDecoder::GstreamerMjpegDecoder(int width, int height, std::string jpeg_decoder,
|
||||||
|
std::string video_convert, std::string jpeg_parse)
|
||||||
: MjpegDecoder(width, height),
|
: MjpegDecoder(width, height),
|
||||||
hw_decoder_(hwDecoderToString(hw_decoder)),
|
jpeg_decoder_(std::move(jpeg_decoder)),
|
||||||
|
video_convert_(std::move(video_convert)),
|
||||||
|
jpeg_parse_(std::move(jpeg_parse)),
|
||||||
buffer_size_(width * height * 3) {
|
buffer_size_(width * height * 3) {
|
||||||
gst_init(NULL, NULL);
|
gst_init(NULL, NULL);
|
||||||
buffer_pool_ = gst_buffer_pool_new();
|
buffer_pool_ = gst_buffer_pool_new();
|
||||||
@@ -30,7 +34,7 @@ GstreamerMjpegDecoder::GstreamerMjpegDecoder(int width, int height, HWDecoder hw
|
|||||||
GstStructure* config = gst_buffer_pool_get_config(buffer_pool_);
|
GstStructure* config = gst_buffer_pool_get_config(buffer_pool_);
|
||||||
CHECK_NOTNULL(config);
|
CHECK_NOTNULL(config);
|
||||||
gst_buffer_pool_config_set_params(config, NULL, buffer_size_, 0, 0);
|
gst_buffer_pool_config_set_params(config, NULL, buffer_size_, 0, 0);
|
||||||
if (hw_decoder_ == "unknown") {
|
if (jpeg_decoder_ == "unknown") {
|
||||||
RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"), "hw decoder is unknown");
|
RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"), "hw decoder is unknown");
|
||||||
throw std::runtime_error("hw decoder is unknown");
|
throw std::runtime_error("hw decoder is unknown");
|
||||||
}
|
}
|
||||||
@@ -45,10 +49,13 @@ GstreamerMjpegDecoder::GstreamerMjpegDecoder(int width, int height, HWDecoder hw
|
|||||||
throw std::runtime_error("gst buffer pool set active error");
|
throw std::runtime_error("gst buffer pool set active error");
|
||||||
}
|
}
|
||||||
// Create GStreamer elements
|
// Create GStreamer elements
|
||||||
|
RCLCPP_INFO_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"),
|
||||||
|
"hw decoder: " << jpeg_decoder_ << ", video convert: " << video_convert_
|
||||||
|
<< ", jpeg parse: " << jpeg_parse_);
|
||||||
appsrc_ = gst_element_factory_make("appsrc", "appsrc");
|
appsrc_ = gst_element_factory_make("appsrc", "appsrc");
|
||||||
jpegparse_ = gst_element_factory_make("jpegparse", "jpegparse");
|
jpegparse_ = gst_element_factory_make(jpeg_parse_.c_str(), jpeg_parse_.c_str());
|
||||||
jpegdec_ = gst_element_factory_make(hw_decoder_.c_str(), hw_decoder_.c_str());
|
jpegdec_ = gst_element_factory_make(jpeg_decoder_.c_str(), jpeg_decoder_.c_str());
|
||||||
videoconvert_ = gst_element_factory_make("videoconvert", "videoconvert");
|
videoconvert_ = gst_element_factory_make(video_convert_.c_str(), video_convert_.c_str());
|
||||||
appsink_ = gst_element_factory_make("appsink", "appsink");
|
appsink_ = gst_element_factory_make("appsink", "appsink");
|
||||||
|
|
||||||
// Check for null pointers
|
// Check for null pointers
|
||||||
|
|||||||
@@ -50,8 +50,8 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
|
|||||||
#if defined(USE_RK_HW_DECODER)
|
#if defined(USE_RK_HW_DECODER)
|
||||||
mjpeg_decoder_ = std::make_unique<RKMjpegDecoder>(width_[COLOR], height_[COLOR]);
|
mjpeg_decoder_ = std::make_unique<RKMjpegDecoder>(width_[COLOR], height_[COLOR]);
|
||||||
#elif defined(USE_GST_HW_DECODER)
|
#elif defined(USE_GST_HW_DECODER)
|
||||||
mjpeg_decoder_ =
|
mjpeg_decoder_ = std::make_unique<GstreamerMjpegDecoder>(
|
||||||
std::make_unique<GstreamerMjpegDecoder>(width_[COLOR], height_[COLOR], hw_decoder_);
|
width_[COLOR], height_[COLOR], jpeg_decoder_, video_convert_, jpeg_parse_);
|
||||||
#endif
|
#endif
|
||||||
startStreams();
|
startStreams();
|
||||||
if (enable_d2c_viewer_) {
|
if (enable_d2c_viewer_) {
|
||||||
@@ -428,9 +428,9 @@ void OBCameraNode::getParameters() {
|
|||||||
setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
|
setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
|
||||||
setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);
|
setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);
|
||||||
setAndGetNodeParameter<double>(angular_vel_cov_, "angular_vel_cov", 0.02);
|
setAndGetNodeParameter<double>(angular_vel_cov_, "angular_vel_cov", 0.02);
|
||||||
int hw_decoder = 0;
|
setAndGetNodeParameter<std::string>(jpeg_decoder_, "jpeg_decoder", "avdec_mjpeg");
|
||||||
setAndGetNodeParameter<int>(hw_decoder, "hw_decoder", 3);
|
setAndGetNodeParameter<std::string>(video_convert_, "video_convert", "videoconvert");
|
||||||
hw_decoder_ = static_cast<HWDecoder>(hw_decoder);
|
setAndGetNodeParameter<std::string>(jpeg_parse_, "jpeg_parse", "jpegparse");
|
||||||
}
|
}
|
||||||
|
|
||||||
void OBCameraNode::setupTopics() {
|
void OBCameraNode::setupTopics() {
|
||||||
|
|||||||
Reference in New Issue
Block a user