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openni_node.launch_Didn'tWork_11/30/11

Nov 30th, 2011
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  1.  
  2. <launch>
  3. <arg name="debug" default="false"/>
  4. <arg if="$(arg debug)" name="launch_prefix" value="xterm -rv -e gdb -ex run -args"/>
  5. <arg unless="$(arg debug)" name="launch_prefix" value=""/>
  6.  
  7. <!-- 11/30/11/Isaac/http://answers.ros.org/question/923/is-it-possible-to-use-more-than-on$
  8. <node pkg="openni_camera" type="openni_node" name="openni_node1" output="screen" launch-pr$
  9. <!--param name="topic" value="first" /-->
  10. <!--param name="device_id" value="2@3" --> <!-- this line uses device on usb bus 2 and a$
  11. <!--param name="device_id" value="B00367707227042B"/--> <!-- this line uses device with $
  12.  
  13. <remap from="camera/depth/points" to="camera/depth/points1" />
  14. <remap from="camera/rgb/image_raw" to="camera/rgb/image_raw_1" />
  15.  
  16. <param name="device_id" value="#1"/> <!-- this line uses first enumerated device -->
  17. <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
  18. <param name="rgb_frame_id" value="/openni_rgb_optical_frame" />
  19. <param name="depth_frame_id" value="/openni_depth_optical_frame" />
  20. <param name="use_indices" value="false" />
  21. <param name="depth_registration" value="true" />
  22. <param name="image_mode" value="2" />
  23. <param name="depth_mode" value="2" />
  24. <param name="debayering" value="2" />
  25. <param name="depth_time_offset" value="0" />
  26. <param name="image_time_offset" value="0" />
  27. </node>
  28.  
  29. <node pkg="openni_camera" type="openni_node" name="openni_node2" output="screen" launch-pr$
  30. <!--param name="topic" value="first" /-->
  31. <!--param name="device_id" value="2@3" --> <!-- this line uses device on usb bus 2 and a$
  32. <!--param name="device_id" value="B00367707227042B"/--> <!-- this line uses device with $
  33.  
  34. <remap from="camera/depth/points" to="camera/depth/points2" />
  35. <remap from="camera/rgb/image_raw" to="camera/rgb/image_raw_2" />
  36.  
  37. <param name="device_id" value="#2"/> <!-- this line uses first enumerated device -->
  38. <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
  39. <param name="rgb_frame_id" value="/openni_rgb_optical_frame" />
  40. <param name="depth_frame_id" value="/openni_depth_optical_frame" />
  41. <param name="use_indices" value="false" />
  42. <param name="depth_registration" value="true" />
  43. <param name="image_mode" value="2" />
  44. <param name="depth_mode" value="2" />
  45. <param name="debayering" value="2" />
  46. <param name="depth_time_offset" value="0" />
  47. <param name="image_time_offset" value="0" />
  48. </node>
  49.  
  50. <include file="$(find openni_camera)/launch/kinect_frames.launch"/>
  51. </launch>
  52.  
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