apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
25 lines
1.2 KiB
XML
25 lines
1.2 KiB
XML
<launch>
|
|
<!-- Example finding 3D poses of the objects detected -->
|
|
<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
|
|
|
|
<!-- Which image resolution: sd, qhd, hd -->
|
|
<arg name="resolution" default="qhd" />
|
|
<arg name="object_prefix" default="object"/>
|
|
<arg name="objects_path" default=""/>
|
|
<arg name="gui" default="true"/>
|
|
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
|
|
|
|
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
|
|
<param name="gui" value="$(arg gui)" type="bool"/>
|
|
<param name="settings_path" value="$(arg settings_path)" type="str"/>
|
|
<param name="subscribe_depth" value="true" type="bool"/>
|
|
<param name="objects_path" value="$(arg objects_path)" type="str"/>
|
|
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
|
|
<param name="approx_sync" value="false" type="bool"/>
|
|
|
|
<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>
|
|
</launch>
|