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update launch file

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This commit is contained in:
Joe Dong
2023-07-05 17:50:44 +08:00
parent acba9de937
commit f718789992
22 changed files with 85 additions and 6 deletions
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orbbec_camera/launch/deeya.launch.xml
+4
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@@ -4,6 +4,7 @@
<!-- 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=""/>
@@ -45,12 +46,14 @@
<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)"/>
@@ -92,6 +95,7 @@
<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>