39 lines
1.2 KiB
XML
39 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<launch>
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<arg name="camera" default="camera" />
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<!-- start sensor-->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="camera" default="$(arg camera)"/>
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</include>
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<!-- run pointcloud_to_laserscan node -->
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<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
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<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
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<remap from="scan" to="$(arg camera)/scan"/>
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<rosparam>
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target_frame: base_link
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min_height: 0.0
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max_height: 1.0
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angle_min: -1.5708 # -M_PI/2
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angle_max: 1.5708 # M_PI/2
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angle_increment: 0.087 # M_PI/360.0
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scan_time: 0.3333
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range_min: 0.45
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range_max: 4.0
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use_inf: true
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# Concurrency level, affects number of pointclouds queued for processing and number of threads used
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# 0 : Detect number of cores
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# 1 : Single threaded
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# 2->inf : Parallelism level
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concurrency_level: 0
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</rosparam>
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</node>
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</launch> |