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17 lines
605 B
XML
17 lines
605 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_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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<arg name="depth_camera_info_url"
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value="file://$(find rtabmap_ros)/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> |