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202719bd8c
* Removal of unnecessary files * Optimized multi-camera launch * Explicitly list the parameters in the launch file
27 lines
1.3 KiB
XML
27 lines
1.3 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="3d_sensor" default="astra"/>
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<!-- stereo_s_u3, astrapro, astra -->
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<arg name="camera1_prefix" default="01"/>
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<arg name="camera2_prefix" default="02"/>
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<arg name="camera1_serila_number" default="ADA611300CE"/>
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<arg name="camera2_serila_number" default="sn123456789"/>
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<arg name="device_num" default="2"/>
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<node name="camera" pkg="orbbec_camera" type="ob_cleanup_shm_node" output="screen"/>
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<include file="$(find-pkg-share orbbec_camera)/launch/$(arg 3d_sensor).launch.xml">
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<arg name="camera_name" value="$(var camera_name)_$(var camera1_prefix)"/>
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<arg name="serial_number" value="$(var camera1_serila_number)"/>
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<arg name="device_num" value="$(var device_num)"/>
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</include>
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<include file="$(ind-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
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<arg name="camera_name" value="$(var camera_name)_$(var camera2_prefix)"/>
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<arg name="serial_number" value="$(var camera2_serila_number)"/>
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<arg name="device_num" value="$(var device_num)"/>
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</include>
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<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
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args="0 0 0 0 0 0 camera01_link camera02_link"/>
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</launch>
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