apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
36 lines
1.7 KiB
XML
36 lines
1.7 KiB
XML
<launch>
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<!-- Example finding 3D poses of the objects detected -->
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<!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
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<arg name="object_prefix" default="object"/>
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<arg name="objects_path" default=""/>
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<arg name="gui" default="true"/>
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<arg name="approx_sync" default="true"/>
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<arg name="pnp" default="true"/>
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<arg name="tf_example" default="true"/>
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<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
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<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
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<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
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<arg name="camera_info_topic" default="camera/rgb/camera_info"/>
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<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
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<param name="gui" value="$(arg gui)" type="bool"/>
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<param name="settings_path" value="$(arg settings_path)" type="str"/>
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<param name="subscribe_depth" value="true" type="bool"/>
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<param name="objects_path" value="$(arg objects_path)" type="str"/>
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<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
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<param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
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<param name="pnp" value="$(arg pnp)" type="bool"/>
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<remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
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<remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
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<remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
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</node>
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<!-- Example of tf synchronisation with the objectsStamped message -->
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<node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
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<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
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</node>
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</launch>
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