forked from xtdrone/XTDrone
99 lines
4.7 KiB
XML
99 lines
4.7 KiB
XML
<launch>
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<arg name="serial_no" default=""/>
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<arg name="json_file_path" default=""/>
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<arg name="camera" default="camera"/>
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<arg name="tf_prefix" default="$(arg camera)"/>
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<arg name="fisheye_width" default="640"/>
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<arg name="fisheye_height" default="480"/>
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<arg name="enable_fisheye" default="true"/>
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<arg name="depth_width" default="640"/>
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<arg name="depth_height" default="480"/>
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<arg name="enable_depth" default="true"/>
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<arg name="infra1_width" default="640"/>
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<arg name="infra1_height" default="480"/>
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<arg name="enable_infra1" default="true"/>
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<arg name="infra2_width" default="640"/>
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<arg name="infra2_height" default="480"/>
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<arg name="enable_infra2" default="true"/>
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<arg name="color_width" default="640"/>
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<arg name="color_height" default="480"/>
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<arg name="enable_color" default="true"/>
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<arg name="fisheye_fps" default="30"/>
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<arg name="depth_fps" default="30"/>
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<arg name="infra1_fps" default="30"/>
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<arg name="infra2_fps" default="30"/>
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<arg name="color_fps" default="30"/>
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<arg name="gyro_fps" default="200"/>
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<arg name="accel_fps" default="250"/>
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<arg name="enable_imu" default="true"/>
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<arg name="enable_pointcloud" default="false"/>
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<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
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<arg name="pointcloud_texture_index" default="0"/>
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<arg name="enable_sync" default="true"/>
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<arg name="align_depth" default="true"/>
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<arg name="filters" default=""/>
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<arg name="clip_distance" default="-2"/>
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<arg name="linear_accel_cov" default="0.01"/>
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<arg name="initial_reset" default="false"/>
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<arg name="unite_imu_method" default="linear_interpolation"/>
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<arg name="hold_back_imu_for_frames" default="true"/>
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<group ns="$(arg camera)">
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<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
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<arg name="tf_prefix" value="$(arg tf_prefix)"/>
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<arg name="serial_no" value="$(arg serial_no)"/>
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<arg name="json_file_path" value="$(arg json_file_path)"/>
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<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
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<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
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<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
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<arg name="enable_sync" value="$(arg enable_sync)"/>
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<arg name="align_depth" value="$(arg align_depth)"/>
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<arg name="fisheye_width" value="$(arg fisheye_width)"/>
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<arg name="fisheye_height" value="$(arg fisheye_height)"/>
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<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>
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<arg name="depth_width" value="$(arg depth_width)"/>
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<arg name="depth_height" value="$(arg depth_height)"/>
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<arg name="enable_depth" value="$(arg enable_depth)"/>
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<arg name="color_width" value="$(arg color_width)"/>
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<arg name="color_height" value="$(arg color_height)"/>
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<arg name="enable_color" value="$(arg enable_color)"/>
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<arg name="infra1_width" value="$(arg infra1_width)"/>
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<arg name="infra1_height" value="$(arg infra1_height)"/>
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<arg name="enable_infra1" value="$(arg enable_infra1)"/>
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<arg name="infra2_width" value="$(arg infra2_width)"/>
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<arg name="infra2_height" value="$(arg infra2_height)"/>
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<arg name="enable_infra2" value="$(arg enable_infra2)"/>
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<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
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<arg name="depth_fps" value="$(arg depth_fps)"/>
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<arg name="infra1_fps" value="$(arg infra1_fps)"/>
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<arg name="infra2_fps" value="$(arg infra2_fps)"/>
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<arg name="color_fps" value="$(arg color_fps)"/>
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<arg name="gyro_fps" value="$(arg gyro_fps)"/>
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<arg name="accel_fps" value="$(arg accel_fps)"/>
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<arg name="enable_imu" value="$(arg enable_imu)"/>
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<arg name="filters" value="$(arg filters)"/>
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<arg name="clip_distance" value="$(arg clip_distance)"/>
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<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
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<arg name="initial_reset" value="$(arg initial_reset)"/>
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<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
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</include>
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</group>
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</launch>
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