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cleanup ros-pkg

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-03-03 21:43:20 +00:00
parent 7d58681f34
commit 1764c88f05
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launch/demo/kinect_frames.launch
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<!-- Default frames for Kinect/PSDK5 devices
Places depth and RGB cameras in the same plane with 2.5cm baseline.
Calibration may improve results, but these defaults are reasonably accurate.
-->
<launch>
<arg name="camera" default="camera" />
<arg name="ns" default="" />
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
args="0 -0.02 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
args="0 -0.045 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />
</launch>
<!-- TODO Could instead store these in camera_pose_calibration format for consistency
with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->