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37 lines
1.4 KiB
37 lines
1.4 KiB
<launch>
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<arg name="debug_directory" value="$(env HELLO_FLEET_PATH)/debug/"/>
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<!-- REALSENSE D435i -->
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<include file="$(find stretch_core)/launch/d435i_high_resolution.launch"></include>
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<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
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<!--<param name="initial_mode" type="string" value="Default"/>-->
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<param name="initial_mode" type="string" value="High Accuracy"/>
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</node>
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<!-- -->
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<!-- STRETCH DRIVER -->
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<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
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<param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
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<include file="$(find stretch_core)/launch/stretch_driver.launch" />
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<!-- -->
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<!-- FRUSTUM FIELD OF VIEW VISUALIZATION -->
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<node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" />
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<!-- -->
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<!-- NEAREST MOUTH DETECTOR -->
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<node name="nearest_mouth_detector" pkg="stretch_deep_perception" type="detect_nearest_mouth_python3.py" output="screen">
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<param name="debug_directory" type="string" value="$(arg debug_directory)"/>
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</node>
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<!-- -->
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<!-- KEYBOARD TELEOP -->
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<node name="keyboard_teleop" pkg="stretch_core" type="keyboard_teleop" output="screen"/>
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<!-- -->
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<!-- VISUALIZE DETECTION -->
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<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_deep_perception)/rviz/nearest_mouth_detection.rviz" />
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<!-- -->
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</launch>
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