130s

kinect.launch_Didn'tWork_11/30/11

Nov 30th, 2011
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  1. <launch>
  2.  
  3. <!-- Enable breaker 1 for the kinect -->
  4. <node pkg="turtlebot_node" type="kinect_breaker_enabler.py" name="kinect_breaker_enabler"/\
  5. >
  6.  
  7. <!-- Kinect -->
  8. <!-- 11/30/11/Isaac/Testing 2 kinects -->
  9. <node pkg="nodelet" type="nodelet" name="openni_manager_1" output="screen" respawn="true" \
  10. args="manager">
  11. <param name="device_id" value="#1"/> <!-- this line uses first enumerated device -->
  12. <remap from="camera/depth/points" to="camera/depth/points1" />
  13. </node>
  14.  
  15. <node pkg="nodelet" type="nodelet" name="openni_manager_2" output="screen" respawn="true" \
  16. args="manager">
  17. <param name="device_id" value="#2"/> <!-- this line uses first enumerated device -->
  18. <remap from="camera/depth/points" to="camera/depth/points2" />
  19. </node>
  20.  
  21. <node pkg="nodelet" type="nodelet" name="openni_camera" args="load openni_camera/OpenNINod\
  22. elet openni_manager" respawn="true">
  23. <param name="rgb_frame_id" value="kinect_rgb_optical_frame" />
  24. <param name="depth_frame_id" value="kinect_depth_optical_frame" />
  25. <param name="depth_registration" value="false" />
  26. <param name="image_mode" value="2" />
  27. <param name="depth_mode" value="2" />
  28. <param name="debayering" value="2" />
  29. <param name="depth_time_offset" value="-0.055" />
  30. <param name="image_time_offset" value="0" />
  31.  
  32. <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
  33. </node>
  34.  
  35. <!-- throttling -->
  36. <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_las\
  37. erscan/CloudThrottle openni_manager" respawn="true">
  38. <param name="max_rate" value="20.0"/>
  39. <remap from="cloud_in" to="/camera/depth/points"/>
  40. <remap from="cloud_out" to="cloud_throttled"/>
  41. </node>
  42.  
  43. <!-- Fake Laser -->
  44. <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/\
  45. CloudToScan openni_manager" respawn="true">
  46. <param name="output_frame_id" value="/kinect_depth_frame"/>
  47. <!-- heights are in the (optical?) frame of the kinect -->
  48. <param name="min_height" value="-0.15"/>
  49. <param name="max_height" value="0.15"/>
  50. <remap from="cloud" to="/cloud_throttled"/>
  51. </node>
  52.  
  53. <!-- Fake Laser (narrow one, for localization -->
  54. <node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_las\
  55. erscan/CloudToScan openni_manager" respawn="true">
  56. <param name="output_frame_id" value="/kinect_depth_frame"/>
  57. <!-- heights are in the (optical?) frame of the kinect -->
  58. <param name="min_height" value="-0.025"/>
  59. <param name="max_height" value="0.025"/>
  60. <remap from="cloud" to="/cloud_throttled"/>
  61. <remap from="scan" to="/narrow_scan"/>
  62. </node>
  63.  
  64. </launch>
  65.  
  66.  
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