From 4b68201a23906433a9c25a221caff7b1a6c3558a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 22 Feb 2016 18:50:37 -0500
Subject: [PATCH] ROS: added kinect2 example

---
 launch/find_object_3d_kinect2.launch | 32 ++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 launch/find_object_3d_kinect2.launch

diff --git a/launch/find_object_3d_kinect2.launch b/launch/find_object_3d_kinect2.launch
new file mode 100644
index 00000000..9ef938e8
--- /dev/null
+++ b/launch/find_object_3d_kinect2.launch
@@ -0,0 +1,32 @@
+<launch>
+	<!-- Example finding 3D poses of the objects detected -->
+	<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
+
+	<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
+	<arg name="resolution" default="qhd" />
+	
+	<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+		<param name="gui" value="true" type="bool"/>
+		<param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
+		<param name="subscribe_depth" value="true" type="bool"/>
+		<param name="objects_path" value="" type="str"/>
+		<param name="object_prefix" value="object" type="str"/>
+		
+		<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
+		<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
+		<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
+	</node>
+	
+	<!-- Example of tf synchronisation with the objectsStamped message -->
+	<node name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
+		<param name="map_frame_id" value="/map" type="string"/>
+		<param name="object_prefix" value="object" type="str"/>
+	</node>
+	<!-- fake some tf frames for the example /map -> /odom -> /base_link -> /kinect2_base_link -->
+	<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+		args="0.1 0.0 0.3 0.0 0.0 0.0 /base_link /kinect2_link 100" />
+	<node pkg="tf" type="static_transform_publisher" name="odom_to_base_tf" 
+		args="1.0 0.0 0.1 1.5707 0.0 0.0 /odom /base_link 100" />
+	<node pkg="tf" type="static_transform_publisher" name="map_to_odom_tf" 
+		args="0.0 0.5 0.0 0.7853 0.0 0.0 /map /odom 100" />
+</launch>