Binit Shah
1 year ago
1 changed files with 24 additions and 0 deletions
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stretch_core/launch/stretch_realsense.launch
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| <launch> | |||||
| <arg name="resolution" default="high" doc="resolution of the color/depth images ('low' or 'high')" /> | |||||
| <arg name="publish_upright_img" default="false" doc="whether to publish a rotated upright color image" /> | |||||
| <arg name="publish_frustum_viz" default="false" doc="whether to publish frustum field of view visualizers" /> | |||||
| <!-- D435i DRIVER --> | |||||
| <include file="$(find stretch_core)/launch/d435i_$(arg resolution)_resolution.launch" /> | |||||
| <!-- VISUAL PRESET CONFIGURATION --> | |||||
| <node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen" /> | |||||
| <!-- UPRIGHT ROTATED CAMERA VIEW --> | |||||
| <node name="upright_rotater" pkg="image_rotate" type="image_rotate" if="$(arg publish_upright_img)"> | |||||
| <remap from="image" to="/camera/color/image_raw" /> | |||||
| <remap from="rotated/image" to="/camera/color/upright_image_raw" /> | |||||
| <param name="target_frame_id" type="str" value="" /> | |||||
| <param name="target_x" type="double" value="-1.5708" /> | |||||
| </node> | |||||
| <!-- FRUSTUM FIELD OF VIEW VISUALIZATION --> | |||||
| <node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" if="$(arg publish_frustum_viz)" /> | |||||
| </launch> | |||||