2014-09-09 15:10:28 +00:00
|
|
|
|
|
|
|
|
<launch>
|
|
|
|
|
|
|
|
|
|
<!-- Xtion -->
|
|
|
|
|
<include file="$(find openni2_launch)/launch/openni2.launch">
|
|
|
|
|
<arg name="depth_registration" value="True" />
|
|
|
|
|
<arg name="rgb_camera_info_url"
|
2014-11-25 17:43:26 -05:00
|
|
|
value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
|
2014-09-09 15:10:28 +00:00
|
|
|
<arg name="depth_camera_info_url"
|
2014-11-25 17:43:26 -05:00
|
|
|
value="file://$(find rtabmap_ros)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
|
2014-09-09 15:10:28 +00:00
|
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<!-- Xtion frame -->
|
|
|
|
|
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
|
|
|
|
args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
|
|
|
|
|
|
|
|
|
|
</launch>
|
