mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
6c008429b9
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
24 lines
1.4 KiB
XML
24 lines
1.4 KiB
XML
<!-- Default frames for Kinect/PSDK5 devices
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Places depth and RGB cameras in the same plane with 2.5cm baseline.
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Calibration may improve results, but these defaults are reasonably accurate.
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-->
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<launch>
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<arg name="camera" default="camera" />
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<arg name="ns" default="" />
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
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args="0 -0.02 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />
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<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
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args="0 -0.045 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />
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<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
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args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame 100" />
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<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
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args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />
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</launch>
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<!-- TODO Could instead store these in camera_pose_calibration format for consistency
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with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->
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