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ros: azimut3 added az3_openni.launch file for easy modifications of the camera frame

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1674 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 15:10:28 +00:00
parent 989ea63acb
commit 0c42d16063
6 changed files with 22 additions and 60 deletions
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launch/azimut3/az3_bag_record.launch
+1 -12
View File
@@ -6,18 +6,7 @@
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
launch/azimut3/az3_db_record.launch
+1 -12
View File
@@ -7,18 +7,7 @@
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
launch/azimut3/az3_mapping_robot.launch
+1 -12
View File
@@ -6,18 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+1 -12
View File
@@ -6,18 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
launch/azimut3/az3_openni.launch
+17
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@@ -0,0 +1,17 @@
<launch>
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
</launch>
launch/azimut3/az3_remote_mapping_robot.launch
+1 -12
View File
@@ -6,18 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">