You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
64 lines
2.7 KiB
64 lines
2.7 KiB
<launch>
|
|
|
|
<!-- REDUCE RATE AND USE NUC TIME -->
|
|
<node name="d435i_accel_correction" pkg="stretch_core" type="d435i_accel_correction" output="screen" />
|
|
|
|
<!-- REALSENSE D435i -->
|
|
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
|
|
<!-- "The D435i depth camera generates and transmits the gyro and
|
|
accelerometer samples independently, as the inertial sensors
|
|
exhibit different FPS rates (200/400Hz for gyro, 63/250Hz for
|
|
accelerometer)."
|
|
https://realsense.intel.com/how-to-getting-imu-data-from-d435i-and-t265/
|
|
https://github.com/intel-ros/realsense
|
|
-->
|
|
<arg name="accel_fps" value="63"/>
|
|
<arg name="gyro_fps" value="200"/>
|
|
<arg name="depth_fps" value="15"/>
|
|
<arg name="enable_infra1" value="false"/>
|
|
<arg name="enable_infra2" value="false"/>
|
|
<arg name="enable_accel" value="true"/>
|
|
|
|
<arg name="depth_width" value="$(arg depth_width)"/>
|
|
<arg name="depth_height" value="$(arg depth_height)"/>
|
|
<arg name="color_width" value="$(arg color_width)"/>
|
|
<arg name="color_height" value="$(arg color_height)"/>
|
|
|
|
<arg name="color_fps" value="15"/>
|
|
|
|
<!-- publish depth streams aligned to other streams -->
|
|
<arg name="align_depth" value="true"/>
|
|
|
|
<!-- publish an RGBD point cloud -->
|
|
<arg name="filters" value="pointcloud"/>
|
|
|
|
<!-- "tf_prefix: By default all frame's ids have the same prefix -
|
|
camera_. This allows changing it per camera."
|
|
https://github.com/intel-ros/realsense -->
|
|
|
|
<!-- "enable_sync: gathers closest frames of different sensors,
|
|
infra red, color and depth, to be sent with the same
|
|
timetag. This happens automatically when such filters as
|
|
pointcloud are enabled."
|
|
https://github.com/intel-ros/realsense -->
|
|
<arg name="enable_sync" value="true"/>
|
|
|
|
<!-- "You can have a full depth to pointcloud, coloring the
|
|
regions beyond the texture with zeros..." -->
|
|
<!-- Set to true in order to make use of the full field of view of
|
|
the depth image instead of being restricted to the field of
|
|
view associated with the narrower RGB camera. Note that
|
|
points out of the RGB camera's field of view will have their
|
|
colors set to 0,0,0. -->
|
|
<arg name="allow_no_texture_points" value="true"/>
|
|
|
|
<!-- "initial_reset: On occasions the device was not closed
|
|
properly and due to firmware issues needs to reset. If set to
|
|
true, the device will reset prior to usage."
|
|
https://github.com/intel-ros/realsense -->
|
|
<!--<arg name="initial_reset" value="true"/>-->
|
|
|
|
<!--<arg name="unite_imu_method" value="copy"/> linear_interpolation-->
|
|
</include>
|
|
|
|
</launch>
|