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fixed all launch file error

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This commit is contained in:
Joe Dong
2023-02-17 14:43:55 +08:00
parent 5f600b2445
commit d9ed2b8dc1
23 changed files with 29 additions and 29 deletions
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orbbec_camera/launch/gemini_e_lite.launch.xml
+3 -25
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@@ -8,19 +8,10 @@
<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="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
@@ -28,7 +19,7 @@
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
@@ -38,10 +29,9 @@
<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"/>
<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="$(var depth_registration)"/>
@@ -50,17 +40,8 @@
<param name="vendor_id" value="$(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="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
@@ -80,10 +61,7 @@
<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)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>