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默存
202719bd8c
* Removal of unnecessary files * Optimized multi-camera launch * Explicitly list the parameters in the launch file
91 lines
4.9 KiB
XML
91 lines
4.9 KiB
XML
<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="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="MJPG"/>
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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="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="Y16"/>
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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="Y16"/>
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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="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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<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="$(var color_camera_info_qos)"/>
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<param name="depth_width" value="$(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="$(var ir_camera_info_qos)"/>
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<param name="publish_tf" value="$(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="$(var enable_publish_extrinsic)"/>
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<remap from="/$(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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