From 96d21443973d80f3a7cca78ee2cfda60d06f6ce3 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 5 Oct 2014 12:49:13 +0200
Subject: [PATCH] added openni2.launch

---
 arm.launch            |   4 +-
 launch/openni2.launch | 119 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 120 insertions(+), 3 deletions(-)
 create mode 100644 launch/openni2.launch

diff --git a/arm.launch b/arm.launch
index 3c1d8fc..2ea8f39 100644
--- a/arm.launch
+++ b/arm.launch
@@ -1,14 +1,12 @@
 <?xml version="1.0"?>
 <launch>
-	<!--
-	<include file="$(find openni2_launch)/launch/openni2.launch" />
+	<include file="$(find arm)/launch/openni2.launch" />
 
 	<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
 		<remap from="image" to="/camera/depth/image_raw"/>
 		<remap from="camera_info" to="/camera/depth/camera_info"/>
 		<param name="output_frame_id" value="/scan" />
 	</node>
-	-->
 
 	<param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
 
diff --git a/launch/openni2.launch b/launch/openni2.launch
new file mode 100644
index 0000000..12b4cdf
--- /dev/null
+++ b/launch/openni2.launch
@@ -0,0 +1,119 @@
+<!-- Entry point for using OpenNI2 devices -->
+<launch>
+
+  <!-- "camera" should uniquely identify the device. All topics are pushed down
+       into the "camera" namespace, and it is prepended to tf frame ids. -->
+  <arg name="camera" default="camera" />
+  <arg name="tf_prefix" default="" />
+  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
+
+  <!-- device_id can have the following formats:
+         "#1"  : the first device found
+         "2@X" : the Xth device on USB bus 2 -->
+  <arg name="device_id" default="#1" />
+
+  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
+       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
+       See camera_info_manager docs for calibration URL details. -->
+  <arg name="rgb_camera_info_url"   default="" />
+  <arg name="depth_camera_info_url" default="" />
+
+  <!-- Hardware depth registration -->
+  <arg name="depth_registration" default="false" />
+
+  <!-- Driver parameters -->
+  <arg name="color_depth_synchronization"     default="false" />
+  <arg name="auto_exposure"                   default="true" />
+  <arg name="auto_white_balance"              default="true" />
+
+  <!-- Arguments for remapping all device namespaces -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
+       tree. Useful if you are playing back recorded raw data from a bag, or are
+       supplying a more accurate tf tree from calibration. -->
+  <arg name="load_driver" default="true" />
+  <arg name="publish_tf" default="true" />
+  <!-- Processing Modules -->
+  <arg name="rgb_processing"                  default="true"  />
+  <arg name="debayer_processing"              default="false" />
+  <arg name="ir_processing"                   default="false" />
+  <arg name="depth_processing"                default="true" />
+  <arg name="depth_registered_processing"     default="true" />
+  <arg name="disparity_processing"            default="false" />
+  <arg name="disparity_registered_processing" default="false" />
+  <arg name="hw_registered_processing"        default="true" if="$(arg depth_registration)" />
+  <arg name="sw_registered_processing"        default="false" if="$(arg depth_registration)" />
+  <arg name="hw_registered_processing"        default="false" unless="$(arg depth_registration)" />
+  <arg name="sw_registered_processing"        default="true" unless="$(arg depth_registration)" />
+
+  <!-- Disable bond topics by default -->
+  <arg name="respawn" default="false" />
+
+  <!-- Worker threads for the nodelet manager -->
+  <arg name="num_worker_threads" default="4" />
+
+  <!-- Push down all topics/nodelets into "camera" namespace -->
+  <group ns="$(arg camera)">
+  
+	  <!-- Start nodelet manager -->
+	  <arg name="manager" value="$(arg camera)_nodelet_manager" />
+	  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
+	  <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
+	    <arg name="name" value="$(arg manager)" />
+	    <arg name="debug" value="$(arg debug)" />
+	    <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
+	  </include>
+
+    <!-- Load driver -->
+    <include if="$(arg load_driver)"
+	     file="$(find openni2_launch)/launch/includes/device.launch.xml">
+      <arg name="manager"                         value="$(arg manager)" />
+      <arg name="device_id"                       value="$(arg device_id)" />
+      <arg name="rgb_frame_id"                    value="$(arg rgb_frame_id)" />
+      <arg name="depth_frame_id"                  value="$(arg depth_frame_id)" />
+      <arg name="rgb_camera_info_url"             value="$(arg rgb_camera_info_url)" />
+      <arg name="depth_camera_info_url"           value="$(arg depth_camera_info_url)" />
+      <arg name="rgb"                             value="$(arg rgb)" />
+      <arg name="ir"                              value="$(arg ir)" />
+      <arg name="depth"                           value="$(arg depth)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="depth_registration"              value="$(arg depth_registration)" />
+      <arg name="color_depth_synchronization"     value="$(arg color_depth_synchronization)" />
+      <arg name="auto_exposure"                   value="$(arg auto_exposure)" />
+      <arg name="auto_white_balance"              value="$(arg auto_white_balance)" />
+    </include>
+
+    <!-- Load standard constellation of processing nodelets -->
+    <!--
+    <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
+      <arg name="manager"                         value="$(arg manager)" />
+      <arg name="rgb"                             value="$(arg rgb)" />
+      <arg name="ir"                              value="$(arg ir)" />
+      <arg name="depth"                           value="$(arg depth)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
+      <arg name="debayer_processing"              value="$(arg debayer_processing)" />
+      <arg name="ir_processing"                   value="$(arg ir_processing)" />
+      <arg name="depth_processing"                value="$(arg depth_processing)" />
+      <arg name="depth_registered_processing"     value="$(arg depth_registered_processing)" />
+      <arg name="disparity_processing"            value="$(arg disparity_processing)" />
+      <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
+      <arg name="hw_registered_processing"        value="$(arg hw_registered_processing)" />
+      <arg name="sw_registered_processing"        value="$(arg sw_registered_processing)" />
+    </include>
+   -->
+
+  </group> <!-- camera -->
+
+  <!-- Load reasonable defaults for the relative pose between cameras -->
+  <include if="$(arg publish_tf)"
+	   file="$(find rgbd_launch)/launch/kinect_frames.launch">
+    <arg name="camera" value="$(arg camera)" />
+    <arg name="tf_prefix" value="$(arg tf_prefix)" />
+  </include>
+
+</launch>
-- 
2.39.2