2016-02-22 18:50:37 -05:00
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<launch>
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<!-- Example finding 3D poses of the objects detected -->
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<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
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2016-02-22 19:08:22 -05:00
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<!-- Which image resolution: sd, qhd, hd -->
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2019-08-10 15:31:12 -04:00
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<arg name="resolution" default="qhd" />
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<arg name="object_prefix" default="object"/>
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<arg name="objects_path" default=""/>
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<arg name="gui" default="true"/>
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<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
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2016-02-22 18:50:37 -05:00
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<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
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2019-08-10 15:31:12 -04:00
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<param name="gui" value="$(arg gui)" type="bool"/>
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<param name="settings_path" value="$(arg settings_path)" type="str"/>
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2016-02-22 18:50:37 -05:00
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<param name="subscribe_depth" value="true" type="bool"/>
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2019-08-10 15:31:12 -04:00
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<param name="objects_path" value="$(arg objects_path)" type="str"/>
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<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
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<param name="approx_sync" value="false" type="bool"/>
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2016-02-22 18:50:37 -05:00
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<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
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<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
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<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
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</node>
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</launch>
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