2015-05-20 14:50:25 -04:00
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<launch>
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<!-- Example finding 3D poses of the objects detected -->
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<!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
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<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
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<param name="gui" value="true" type="bool"/>
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<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
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<param name="subscribe_depth" value="true" type="bool"/>
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<param name="objects_path" value="" type="str"/>
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<param name="object_prefix" value="object" type="str"/>
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2019-08-09 21:45:27 -04:00
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<param name="approx_sync" value="true" type="bool"/>
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2015-05-20 14:50:25 -04:00
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<remap from="rgb/image_rect_color" to="camera/rgb/image_rect_color"/>
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<remap from="depth_registered/image_raw" to="camera/depth_registered/image_raw"/>
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<remap from="depth_registered/camera_info" to="camera/depth_registered/camera_info"/>
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</node>
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<!-- Example of tf synchronisation with the objectsStamped message -->
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<node name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
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<param name="map_frame_id" value="/map" type="string"/>
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<param name="object_prefix" value="object" type="str"/>
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</node>
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<!-- fake some tf frames for the example /map -> /odom -> /base_link -> /camera_link -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.1 0.0 0.3 0.0 0.0 0.0 /base_link /camera_link 100" />
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<node pkg="tf" type="static_transform_publisher" name="odom_to_base_tf"
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args="1.0 0.0 0.1 1.5707 0.0 0.0 /odom /base_link 100" />
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<node pkg="tf" type="static_transform_publisher" name="map_to_odom_tf"
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args="0.0 0.5 0.0 0.7853 0.0 0.0 /map /odom 100" />
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</launch>
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