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estimation_realsense.launch
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<launch>
<arg name="output" default="log"/>
<!-- Setup vision -->
<group ns="vision">
<node pkg="agimus_vision" type="tracker_object"
output="$(arg output)"
name="tracker"
>
<!-- <param name="imageTopic" value="/xtion/rgb/image_raw" />
<param name="cameraInfoTopic" value="/xtion/rgb/camera_info" />
<param name="debugDisplay" value="false" />
<param name="broadcastTopic" value="true" />
<param name="broadcastTf" value="true" />
<param name="broadcastTfPostfix" value="_tf" />
<param name="objectType" value="apriltag" />
<param name="cameraFrame" value="xtion_rgb_optical_frame" /> -->
<param name="imageTopic" value="/camera/color/image_raw" />
<param name="cameraInfoTopic" value="/camera/color/camera_info" />
<param name="depthImageTopic" value="/camera/aligned_depth_to_color/image_raw" />
<param name="depthCameraInfoTopic" value="/camera/aligned_depth_to_color/camera_info" />
<param name="debugDisplay" value="false" />
<param name="broadcastTopic" value="true" />
<param name="broadcastTf" value="true" />
<param name="broadcastTfPostfix" value="_tf" />
<param name="objectType" value="apriltag" />
<param name="cameraFrame" value="camera_color_optical_frame" />
<param name="depthScale" value="0.001"/>
<param name="depthRGBDistance" value="0.00"/>
</node>
<!-- Part -->
<node pkg="agimus_demos" type="group_of_tags.py" name="part_tags" args="
--child-frame-format 'part/tag36_11_{:0>5d}'
--measurement-parent-frame camera_color_optical_frame
--group-frame part/base_link
--no-description
--size 0.0845
--tag 1
--size 0.0845
--tag 5
--size 0.0845
--tag 6
--size 0.0845
--tag 13
--size 0.0845
--tag 14
--size 0.0845
--tag 15
--size 0.06
--tag 100
--size 0.06
--tag 101
--size 0.06
--tag 102
"
output="$(arg output)"
/>
</group>
</launch>