From caa1cccb3fbefc363a55b7fdbf29db89437de35c Mon Sep 17 00:00:00 2001 From: Michael Ferguson Date: Fri, 19 Jan 2024 20:38:55 -0500 Subject: [PATCH] depth_image_proc: update launch files * follow up to #900 - had not noticed these launch files at the time * remove camera_info topics that auto remap now * rename image_raw -> rect for xyzi nodes --- depth_image_proc/launch/convert_metric.launch.py | 1 - depth_image_proc/launch/crop_foremost.launch.py | 1 - depth_image_proc/launch/point_cloud_xyz.launch.py | 1 - depth_image_proc/launch/point_cloud_xyz_radial.launch.py | 3 +-- depth_image_proc/launch/point_cloud_xyzi.launch.py | 1 - depth_image_proc/launch/point_cloud_xyzi_radial.launch.py | 3 +-- depth_image_proc/launch/point_cloud_xyzrgb.launch.py | 3 +-- depth_image_proc/launch/point_cloud_xyzrgb_radial.launch.py | 3 +-- depth_image_proc/launch/register.launch.py | 1 - 9 files changed, 4 insertions(+), 13 deletions(-) diff --git a/depth_image_proc/launch/convert_metric.launch.py b/depth_image_proc/launch/convert_metric.launch.py index 37e6c09f2..45ef995e5 100644 --- a/depth_image_proc/launch/convert_metric.launch.py +++ b/depth_image_proc/launch/convert_metric.launch.py @@ -61,7 +61,6 @@ def generate_launch_description(): plugin='depth_image_proc::ConvertMetricNode', name='convert_metric_node', remappings=[('image_raw', '/camera/depth/image_rect_raw'), - ('camera_info', '/camera/depth/camera_info'), ('image', '/camera/depth/converted_image')] ), ], diff --git a/depth_image_proc/launch/crop_foremost.launch.py b/depth_image_proc/launch/crop_foremost.launch.py index 17485336f..cc04c65ec 100644 --- a/depth_image_proc/launch/crop_foremost.launch.py +++ b/depth_image_proc/launch/crop_foremost.launch.py @@ -60,7 +60,6 @@ def generate_launch_description(): plugin='depth_image_proc::CropForemostNode', name='crop_foremost_node', remappings=[('image_raw', '/camera/depth/image_rect_raw'), - ('camera_info', '/camera/depth/camera_info'), ('image', '/camera/depth/converted_image')] ), ], diff --git a/depth_image_proc/launch/point_cloud_xyz.launch.py b/depth_image_proc/launch/point_cloud_xyz.launch.py index 1428bcec1..3bf5b7e2b 100644 --- a/depth_image_proc/launch/point_cloud_xyz.launch.py +++ b/depth_image_proc/launch/point_cloud_xyz.launch.py @@ -61,7 +61,6 @@ def generate_launch_description(): plugin='depth_image_proc::PointCloudXyzNode', name='point_cloud_xyz_node', remappings=[('image_rect', '/camera/depth/image_rect_raw'), - ('camera_info', '/camera/depth/camera_info'), ('image', '/camera/depth/converted_image')] ), ], diff --git a/depth_image_proc/launch/point_cloud_xyz_radial.launch.py b/depth_image_proc/launch/point_cloud_xyz_radial.launch.py index d578a05ce..935758926 100644 --- a/depth_image_proc/launch/point_cloud_xyz_radial.launch.py +++ b/depth_image_proc/launch/point_cloud_xyz_radial.launch.py @@ -60,8 +60,7 @@ def generate_launch_description(): package='depth_image_proc', plugin='depth_image_proc::PointCloudXyzRadialNode', name='point_cloud_xyz_radial_node', - remappings=[('image_raw', '/camera/depth/image_rect_raw'), - ('camera_info', '/camera/depth/camera_info'), + remappings=[('image_rect', '/camera/depth/image_rect_raw'), ('image', '/camera/depth/converted_image')] ), ], diff --git a/depth_image_proc/launch/point_cloud_xyzi.launch.py b/depth_image_proc/launch/point_cloud_xyzi.launch.py index 191b3f089..84c6dc9b8 100644 --- a/depth_image_proc/launch/point_cloud_xyzi.launch.py +++ b/depth_image_proc/launch/point_cloud_xyzi.launch.py @@ -63,7 +63,6 @@ def generate_launch_description(): name='point_cloud_xyzi', remappings=[('depth/image_rect', '/camera/aligned_depth_to_color/image_raw'), ('intensity/image_rect', '/camera/color/image_raw'), - ('intensity/camera_info', '/camera/color/camera_info'), ('points', '/camera/depth/points')] ), ], diff --git a/depth_image_proc/launch/point_cloud_xyzi_radial.launch.py b/depth_image_proc/launch/point_cloud_xyzi_radial.launch.py index 721387748..b794f69d6 100644 --- a/depth_image_proc/launch/point_cloud_xyzi_radial.launch.py +++ b/depth_image_proc/launch/point_cloud_xyzi_radial.launch.py @@ -61,9 +61,8 @@ def generate_launch_description(): package='depth_image_proc', plugin='depth_image_proc::PointCloudXyziRadialNode', name='point_cloud_xyzi_radial_node', - remappings=[('depth/image_raw', '/camera/depth/image_rect_raw'), + remappings=[('depth/image_rect', '/camera/depth/image_rect_raw'), ('intensity/image_raw', '/camera/depth/image_rect_raw'), - ('intensity/camera_info', '/camera/depth/camera_info'), ('points', '/camera/depth/points')] ), ], diff --git a/depth_image_proc/launch/point_cloud_xyzrgb.launch.py b/depth_image_proc/launch/point_cloud_xyzrgb.launch.py index 10b333ac2..216662bd7 100644 --- a/depth_image_proc/launch/point_cloud_xyzrgb.launch.py +++ b/depth_image_proc/launch/point_cloud_xyzrgb.launch.py @@ -60,8 +60,7 @@ def generate_launch_description(): package='depth_image_proc', plugin='depth_image_proc::PointCloudXyzrgbNode', name='point_cloud_xyzrgb_node', - remappings=[('rgb/camera_info', '/camera/color/camera_info'), - ('rgb/image_rect_color', '/camera/color/image_raw'), + remappings=[('rgb/image_rect_color', '/camera/color/image_raw'), ('depth_registered/image_rect', '/camera/aligned_depth_to_color/image_raw'), ('points', '/camera/depth_registered/points')] diff --git a/depth_image_proc/launch/point_cloud_xyzrgb_radial.launch.py b/depth_image_proc/launch/point_cloud_xyzrgb_radial.launch.py index 263e2397c..b09d2b1ac 100644 --- a/depth_image_proc/launch/point_cloud_xyzrgb_radial.launch.py +++ b/depth_image_proc/launch/point_cloud_xyzrgb_radial.launch.py @@ -73,8 +73,7 @@ def generate_launch_description(): package='depth_image_proc', plugin='depth_image_proc::PointCloudXyzrgbRadialNode', name='point_cloud_xyzrgb_node', - remappings=[('rgb/camera_info', '/camera/color/camera_info'), - ('rgb/image_rect_color', '/camera/color/image_raw'), + remappings=[('rgb/image_rect_color', '/camera/color/image_raw'), ('depth_registered/image_rect', '/camera/aligned_depth_to_color/image_raw'), ('points', '/camera/depth_registered/points')] diff --git a/depth_image_proc/launch/register.launch.py b/depth_image_proc/launch/register.launch.py index 0eab8878e..ab90975bb 100644 --- a/depth_image_proc/launch/register.launch.py +++ b/depth_image_proc/launch/register.launch.py @@ -61,7 +61,6 @@ def generate_launch_description(): plugin='depth_image_proc::RegisterNode', name='register_node', remappings=[('depth/image_rect', '/camera/depth/image_rect_raw'), - ('depth/camera_info', '/camera/depth/camera_info'), ('rgb/camera_info', '/camera/color/camera_info'), ('depth_registered/image_rect', '/camera/depth_registered/image_rect'),