mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
0c42d16063
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1674 f169173b-cf89-36c8-b27e-44dbe73f0c83
17 lines
597 B
XML
17 lines
597 B
XML
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<launch>
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<!-- Xtion -->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="depth_registration" value="True" />
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<arg name="rgb_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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<arg name="depth_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
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</include>
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<!-- Xtion frame -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
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</launch> |