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72 lines
3.3 KiB
72 lines
3.3 KiB
<launch>
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<arg name="rs_initial_preset" default="$(find stretch_core)/config/HighAccuracyPreset.json" doc="filepath to json defining a visual preset for the depth image" />
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<arg name="rs_initial_reset" default="true" doc="whether to reset camera before streaming, useful if the camera got into a bad state in the last session" />
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<!-- REDUCE RATE AND USE NUC TIME -->
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<node name="d435i_accel_correction" pkg="stretch_core" type="d435i_accel_correction" output="screen" />
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<!-- REALSENSE D435i -->
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<include file="$(find realsense2_camera)/launch/rs_camera.launch">
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<!-- "The D435i depth camera generates and transmits the gyro and
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accelerometer samples independently, as the inertial sensors
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exhibit different FPS rates (200/400Hz for gyro, 63/250Hz for
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accelerometer)."
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https://realsense.intel.com/how-to-getting-imu-data-from-d435i-and-t265/
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https://github.com/intel-ros/realsense
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-->
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<arg name="accel_fps" value="63"/>
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<arg name="gyro_fps" value="200"/>
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<arg name="depth_fps" value="15"/>
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<arg name="enable_infra1" value="false"/>
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<arg name="enable_infra2" value="false"/>
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<arg name="enable_accel" value="true"/>
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<arg name="enable_color" value="true"/>
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<arg name="enable_depth" value="true"/>
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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="color_width" value="$(arg color_width)"/>
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<arg name="color_height" value="$(arg color_height)"/>
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<arg name="color_fps" value="15"/>
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<!-- publish depth streams aligned to other streams -->
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<arg name="align_depth" value="true"/>
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<!-- publish an RGBD point cloud -->
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<arg name="filters" value="pointcloud"/>
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<!-- "tf_prefix: By default all frame's ids have the same prefix -
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camera_. This allows changing it per camera."
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https://github.com/intel-ros/realsense -->
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<!-- "enable_sync: gathers closest frames of different sensors,
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infra red, color and depth, to be sent with the same
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timetag. This happens automatically when such filters as
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pointcloud are enabled."
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https://github.com/intel-ros/realsense -->
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<arg name="enable_sync" value="true"/>
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<!-- "You can have a full depth to pointcloud, coloring the
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regions beyond the texture with zeros..." -->
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<!-- Set to true in order to make use of the full field of view of
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the depth image instead of being restricted to the field of
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view associated with the narrower RGB camera. Note that
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points out of the RGB camera's field of view will have their
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colors set to 0,0,0. -->
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<arg name="allow_no_texture_points" value="true"/>
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<!-- "initial_reset: On occasions the device was not closed
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properly and due to firmware issues needs to reset. If set to
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true, the device will reset prior to usage."
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https://github.com/intel-ros/realsense -->
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<arg name="initial_reset" value="$(arg rs_initial_reset)"/>
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<!--<arg name="unite_imu_method" value="copy"/> linear_interpolation-->
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<!-- configure the depth image to the high accuracy visual preset -->
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<arg name="json_file_path" value="$(arg rs_initial_preset)" />
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</include>
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</launch>
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