launch/openni2.launch

   1 <!-- Entry point for using OpenNI2 devices -->
   2 <launch>
   3
   4   <!-- "camera" should uniquely identify the device. All topics are pushed down
   5        into the "camera" namespace, and it is prepended to tf frame ids. -->
   6   <arg name="camera" default="camera" />
   7   <arg name="tf_prefix" default="" />
   8   <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
   9   <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
  10
  11   <!-- device_id can have the following formats:
  12          "#1"  : the first device found
  13          "2@X" : the Xth device on USB bus 2 -->
  14   <arg name="device_id" default="#1" />
  15
  16   <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
  17        where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
  18        See camera_info_manager docs for calibration URL details. -->
  19   <arg name="rgb_camera_info_url"   default="" />
  20   <arg name="depth_camera_info_url" default="" />
  21
  22   <!-- Hardware depth registration -->
  23   <arg name="depth_registration" default="false" />
  24
  25   <!-- Driver parameters -->
  26   <arg name="color_depth_synchronization"     default="false" />
  27   <arg name="auto_exposure"                   default="true" />
  28   <arg name="auto_white_balance"              default="true" />
  29
  30   <!-- Arguments for remapping all device namespaces -->
  31   <arg name="rgb"              default="rgb" />
  32   <arg name="ir"               default="ir" />
  33   <arg name="depth"            default="depth" />
  34
  35   <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
  36        tree. Useful if you are playing back recorded raw data from a bag, or are
  37        supplying a more accurate tf tree from calibration. -->
  38   <arg name="load_driver" default="true" />
  39   <arg name="publish_tf" default="true" />
  40   <!-- Processing Modules -->
  41   <arg name="rgb_processing"                  default="true"  />
  42   <arg name="debayer_processing"              default="false" />
  43   <arg name="ir_processing"                   default="false" />
  44   <arg name="depth_processing"                default="true" />
  45   <arg name="depth_registered_processing"     default="true" />
  46   <arg name="disparity_processing"            default="false" />
  47   <arg name="disparity_registered_processing" default="false" />
  48   <arg name="hw_registered_processing"        default="true" if="$(arg depth_registration)" />
  49   <arg name="sw_registered_processing"        default="false" if="$(arg depth_registration)" />
  50   <arg name="hw_registered_processing"        default="false" unless="$(arg depth_registration)" />
  51   <arg name="sw_registered_processing"        default="true" unless="$(arg depth_registration)" />
  52
  53   <!-- Disable bond topics by default -->
  54   <arg name="respawn" default="false" />
  55
  56   <!-- Worker threads for the nodelet manager -->
  57   <arg name="num_worker_threads" default="4" />
  58
  59   <!-- Push down all topics/nodelets into "camera" namespace -->
  60   <group ns="$(arg camera)">
  61
  62           <!-- Start nodelet manager -->
  63           <arg name="manager" value="$(arg camera)_nodelet_manager" />
  64           <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
  65           <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
  66             <arg name="name" value="$(arg manager)" />
  67             <arg name="debug" value="$(arg debug)" />
  68             <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
  69           </include>
  70
  71     <!-- Load driver -->
  72     <include if="$(arg load_driver)"
  73              file="$(find openni2_launch)/launch/includes/device.launch.xml">
  74       <arg name="manager"                         value="$(arg manager)" />
  75       <arg name="device_id"                       value="$(arg device_id)" />
  76       <arg name="rgb_frame_id"                    value="$(arg rgb_frame_id)" />
  77       <arg name="depth_frame_id"                  value="$(arg depth_frame_id)" />
  78       <arg name="rgb_camera_info_url"             value="$(arg rgb_camera_info_url)" />
  79       <arg name="depth_camera_info_url"           value="$(arg depth_camera_info_url)" />
  80       <arg name="rgb"                             value="$(arg rgb)" />
  81       <arg name="ir"                              value="$(arg ir)" />
  82       <arg name="depth"                           value="$(arg depth)" />
  83       <arg name="respawn"                         value="$(arg respawn)" />
  84       <arg name="depth_registration"              value="$(arg depth_registration)" />
  85       <arg name="color_depth_synchronization"     value="$(arg color_depth_synchronization)" />
  86       <arg name="auto_exposure"                   value="$(arg auto_exposure)" />
  87       <arg name="auto_white_balance"              value="$(arg auto_white_balance)" />
  88     </include>
  89
  90     <!-- Load standard constellation of processing nodelets -->
  91     <!--
  92     <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
  93       <arg name="manager"                         value="$(arg manager)" />
  94       <arg name="rgb"                             value="$(arg rgb)" />
  95       <arg name="ir"                              value="$(arg ir)" />
  96       <arg name="depth"                           value="$(arg depth)" />
  97       <arg name="respawn"                         value="$(arg respawn)" />
  98       <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
  99       <arg name="debayer_processing"              value="$(arg debayer_processing)" />
 100       <arg name="ir_processing"                   value="$(arg ir_processing)" />
 101       <arg name="depth_processing"                value="$(arg depth_processing)" />
 102       <arg name="depth_registered_processing"     value="$(arg depth_registered_processing)" />
 103       <arg name="disparity_processing"            value="$(arg disparity_processing)" />
 104       <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
 105       <arg name="hw_registered_processing"        value="$(arg hw_registered_processing)" />
 106       <arg name="sw_registered_processing"        value="$(arg sw_registered_processing)" />
 107     </include>
 108    -->
 109
 110   </group> <!-- camera -->
 111
 112   <!-- Load reasonable defaults for the relative pose between cameras -->
 113   <include if="$(arg publish_tf)"
 114            file="$(find rgbd_launch)/launch/kinect_frames.launch">
 115     <arg name="camera" value="$(arg camera)" />
 116     <arg name="tf_prefix" value="$(arg tf_prefix)" />
 117   </include>
 118
 119 </launch>