mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
41 lines
1.9 KiB
XML
41 lines
1.9 KiB
XML
<launch>
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<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
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<param name="video_mode" value="format7_mode3" />
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<param name="format7_color_coding" value="raw16" />
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<param name="bayer_pattern" value="bggr" />
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<param name="bayer_method" value="" />
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<param name="stereo_method" value="Interlaced" />
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<param name="camera_info_url_left" value="" />
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<param name="camera_info_url_right" value="" />
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</node>
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<arg name="gen_depth" default="false"/>
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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="camera_base_link"
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args="$(arg optical_rotate) base_link stereo_camera 100" />
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<!-- Run the ROS package stereo_image_proc (throttle to 10 Hz to avoid rectifying all images) -->
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<group ns="/stereo_camera" >
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
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<remap from="left/image" to="left/image_raw"/>
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<remap from="right/image" to="right/image_raw"/>
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<remap from="left/camera_info" to="left/camera_info"/>
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<remap from="right/camera_info" to="right/camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="rate" type="double" value="10"/>
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</node>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/image_raw" to="right/image_raw_throttle"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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</node>
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<node if="$(arg gen_depth)" pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
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</group>
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</launch>
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