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nodelet.launch.xml
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nodelet.launch.xml
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<launch>
<arg name="external_manager" default="false"/>
<arg name="manager" default="realsense2_camera_manager"/>
<arg name="serial_no" default=""/>
<arg name="usb_port_id" default=""/>
<arg name="device_type" default=""/>
<arg name="tf_prefix" default=""/>
<arg name="json_file_path" default=""/>
<arg name="rosbag_filename" default=""/>
<arg name="required" default="false"/>
<arg name="output" default="screen"/> <!-- [ screen | log ]-->
<arg name="respawn" default="false"/>
<arg name="fisheye_width" default="0"/>
<arg name="fisheye_height" default="0"/>
<arg name="enable_fisheye" default="false"/>
<arg name="enable_fisheye1" default="false"/>
<arg name="enable_fisheye2" default="false"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>
<arg name="confidence_width" default="640"/>
<arg name="confidence_height" default="480"/>
<arg name="enable_confidence" default="true"/>
<arg name="confidence_fps" default="30"/>
<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra" default="false"/>
<arg name="enable_infra1" default="false"/>
<arg name="enable_infra2" default="false"/>
<arg name="infra_rgb" default="false"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>
<arg name="fisheye_fps" default="30"/>
<arg name="depth_fps" default="30"/>
<arg name="infra_fps" default="30"/>
<arg name="color_fps" default="30"/>
<arg name="gyro_fps" default="0"/>
<arg name="accel_fps" default="0"/>
<arg name="enable_gyro" default="false"/>
<arg name="enable_accel" default="false"/>
<arg name="enable_pose" default="false"/>
<arg name="enable_pointcloud" default="false"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/> <!-- use RS2_STREAM_ANY to avoid using texture -->
<arg name="pointcloud_texture_index" default="0"/>
<arg name="allow_no_texture_points" default="true"/>
<arg name="ordered_pc" default="false"/>
<arg name="enable_sync" default="false"/>
<arg name="align_depth" default="false"/>
<arg name="base_frame_id" default="$(arg tf_prefix)_link"/>
<arg name="depth_frame_id" default="$(arg tf_prefix)_depth_frame"/>
<arg name="infra1_frame_id" default="$(arg tf_prefix)_infra1_frame"/>
<arg name="infra2_frame_id" default="$(arg tf_prefix)_infra2_frame"/>
<arg name="color_frame_id" default="$(arg tf_prefix)_color_frame"/>
<arg name="fisheye_frame_id" default="$(arg tf_prefix)_fisheye_frame"/>
<arg name="fisheye1_frame_id" default="$(arg tf_prefix)_fisheye1_frame"/>
<arg name="fisheye2_frame_id" default="$(arg tf_prefix)_fisheye2_frame"/>
<arg name="accel_frame_id" default="$(arg tf_prefix)_accel_frame"/>
<arg name="gyro_frame_id" default="$(arg tf_prefix)_gyro_frame"/>
<arg name="pose_frame_id" default="$(arg tf_prefix)_pose_frame"/>
<arg name="depth_optical_frame_id" default="$(arg tf_prefix)_depth_optical_frame"/>
<arg name="infra1_optical_frame_id" default="$(arg tf_prefix)_infra1_optical_frame"/>
<arg name="infra2_optical_frame_id" default="$(arg tf_prefix)_infra2_optical_frame"/>
<arg name="color_optical_frame_id" default="$(arg tf_prefix)_color_optical_frame"/>
<arg name="fisheye_optical_frame_id" default="$(arg tf_prefix)_fisheye_optical_frame"/>
<arg name="fisheye1_optical_frame_id" default="$(arg tf_prefix)_fisheye1_optical_frame"/>
<arg name="fisheye2_optical_frame_id" default="$(arg tf_prefix)_fisheye2_optical_frame"/>
<arg name="accel_optical_frame_id" default="$(arg tf_prefix)_accel_optical_frame"/>
<arg name="gyro_optical_frame_id" default="$(arg tf_prefix)_gyro_optical_frame"/>
<arg name="imu_optical_frame_id" default="$(arg tf_prefix)_imu_optical_frame"/>
<arg name="pose_optical_frame_id" default="$(arg tf_prefix)_pose_optical_frame"/>
<arg name="aligned_depth_to_color_frame_id" default="$(arg tf_prefix)_aligned_depth_to_color_frame"/>
<arg name="aligned_depth_to_infra1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra1_frame"/>
<arg name="aligned_depth_to_infra2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra2_frame"/>
<arg name="aligned_depth_to_fisheye_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye_frame"/>
<arg name="aligned_depth_to_fisheye1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye1_frame"/>
<arg name="aligned_depth_to_fisheye2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye2_frame"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="0"/> <!-- 0 - static transform -->
<arg name="odom_frame_id" default="$(arg tf_prefix)_odom_frame"/>
<arg name="topic_odom_in" default="$(arg tf_prefix)/odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publish_odom_tf" default="true"/>
<arg name="stereo_module/exposure/1" default="7500"/>
<arg name="stereo_module/gain/1" default="16"/>
<arg name="stereo_module/exposure/2" default="1"/>
<arg name="stereo_module/gain/2" default="16"/>
<arg name="filters" default=""/>
<arg name="clip_distance" default="-1"/>
<arg name="linear_accel_cov" default="0.01"/>
<arg name="initial_reset" default="false"/>
<arg name="unite_imu_method" default="none"/> <!-- Options are: [none, copy, linear_interpolation] -->
<arg name="pointcloud_frame_skip" default="1"/> <!-- number of pointcloud frames to skip -->
<node unless="$(arg external_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" required="$(arg required)" respawn="$(arg respawn)"/>
<node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)" required="$(arg required)" respawn="$(arg respawn)">
<param name="serial_no" type="str" value="$(arg serial_no)"/>
<param name="usb_port_id" type="str" value="$(arg usb_port_id)"/>
<param name="device_type" type="str" value="$(arg device_type)"/>
<param name="json_file_path" type="str" value="$(arg json_file_path)"/>
<param name="rosbag_filename" type="str" value="$(arg rosbag_filename)"/>
<param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)"/>
<param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/>
<param name="pointcloud_texture_index" type="int" value="$(arg pointcloud_texture_index)"/>
<param name="allow_no_texture_points" type="bool" value="$(arg allow_no_texture_points)"/>
<param name="ordered_pc" type="bool" value="$(arg ordered_pc)"/>
<param name="enable_sync" type="bool" value="$(arg enable_sync)"/>
<param name="align_depth" type="bool" value="$(arg align_depth)"/>
<param name="fisheye_width" type="int" value="$(arg fisheye_width)"/>
<param name="fisheye_height" type="int" value="$(arg fisheye_height)"/>
<param name="enable_fisheye" type="bool" value="$(arg enable_fisheye)"/>
<param name="enable_fisheye1" type="bool" value="$(arg enable_fisheye1)"/>
<param name="enable_fisheye2" type="bool" value="$(arg enable_fisheye2)"/>
<param name="depth_width" type="int" value="$(arg depth_width)"/>
<param name="depth_height" type="int" value="$(arg depth_height)"/>
<param name="enable_depth" type="bool" value="$(arg enable_depth)"/>
<param name="confidence_width" type="int" value="$(arg confidence_width)"/>
<param name="confidence_height" type="int" value="$(arg confidence_height)"/>
<param name="enable_confidence" type="bool" value="$(arg enable_confidence)"/>
<param name="confidence_fps" type="int" value="$(arg confidence_fps)"/>
<param name="color_width" type="int" value="$(arg color_width)"/>
<param name="color_height" type="int" value="$(arg color_height)"/>
<param name="enable_color" type="bool" value="$(arg enable_color)"/>
<param name="infra_width" type="int" value="$(arg infra_width)"/>
<param name="infra_height" type="int" value="$(arg infra_height)"/>
<param name="enable_infra" type="bool" value="$(arg enable_infra)"/>
<param name="enable_infra1" type="bool" value="$(arg enable_infra1)"/>
<param name="enable_infra2" type="bool" value="$(arg enable_infra2)"/>
<param name="infra_rgb" type="bool" value="$(arg infra_rgb)"/>
<param name="fisheye_fps" type="int" value="$(arg fisheye_fps)"/>
<param name="depth_fps" type="int" value="$(arg depth_fps)"/>
<param name="infra_fps" type="int" value="$(arg infra_fps)"/>
<param name="color_fps" type="int" value="$(arg color_fps)"/>
<param name="gyro_fps" type="int" value="$(arg gyro_fps)"/>
<param name="accel_fps" type="int" value="$(arg accel_fps)"/>
<param name="enable_gyro" type="bool" value="$(arg enable_gyro)"/>
<param name="enable_accel" type="bool" value="$(arg enable_accel)"/>
<param name="enable_pose" type="bool" value="$(arg enable_pose)"/>
<param name="base_frame_id" type="str" value="$(arg base_frame_id)"/>
<param name="depth_frame_id" type="str" value="$(arg depth_frame_id)"/>
<param name="infra1_frame_id" type="str" value="$(arg infra1_frame_id)"/>
<param name="infra2_frame_id" type="str" value="$(arg infra2_frame_id)"/>
<param name="color_frame_id" type="str" value="$(arg color_frame_id)"/>
<param name="fisheye_frame_id" type="str" value="$(arg fisheye_frame_id)"/>
<param name="fisheye1_frame_id" type="str" value="$(arg fisheye1_frame_id)"/>
<param name="fisheye2_frame_id" type="str" value="$(arg fisheye2_frame_id)"/>
<param name="accel_frame_id" type="str" value="$(arg accel_frame_id)"/>
<param name="gyro_frame_id" type="str" value="$(arg gyro_frame_id)"/>
<param name="pose_frame_id" type="str" value="$(arg pose_frame_id)"/>
<param name="depth_optical_frame_id" type="str" value="$(arg depth_optical_frame_id)"/>
<param name="infra1_optical_frame_id" type="str" value="$(arg infra1_optical_frame_id)"/>
<param name="infra2_optical_frame_id" type="str" value="$(arg infra2_optical_frame_id)"/>
<param name="color_optical_frame_id" type="str" value="$(arg color_optical_frame_id)"/>
<param name="fisheye_optical_frame_id" type="str" value="$(arg fisheye_optical_frame_id)"/>
<param name="fisheye1_optical_frame_id" type="str" value="$(arg fisheye1_optical_frame_id)"/>
<param name="fisheye2_optical_frame_id" type="str" value="$(arg fisheye2_optical_frame_id)"/>
<param name="accel_optical_frame_id" type="str" value="$(arg accel_optical_frame_id)"/>
<param name="gyro_optical_frame_id" type="str" value="$(arg gyro_optical_frame_id)"/>
<param name="imu_optical_frame_id" type="str" value="$(arg imu_optical_frame_id)"/>
<param name="pose_optical_frame_id" type="str" value="$(arg pose_optical_frame_id)"/>
<param name="aligned_depth_to_color_frame_id" type="str" value="$(arg aligned_depth_to_color_frame_id)"/>
<param name="aligned_depth_to_infra1_frame_id" type="str" value="$(arg aligned_depth_to_infra1_frame_id)"/>
<param name="aligned_depth_to_infra2_frame_id" type="str" value="$(arg aligned_depth_to_infra2_frame_id)"/>
<param name="aligned_depth_to_fisheye_frame_id" type="str" value="$(arg aligned_depth_to_fisheye_frame_id)"/>
<param name="aligned_depth_to_fisheye1_frame_id" type="str" value="$(arg aligned_depth_to_fisheye1_frame_id)"/>
<param name="aligned_depth_to_fisheye2_frame_id" type="str" value="$(arg aligned_depth_to_fisheye2_frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="tf_publish_rate" type="double" value="$(arg tf_publish_rate)"/>
<param name="odom_frame_id" type="str" value="$(arg odom_frame_id)"/>
<param name="topic_odom_in" type="str" value="$(arg topic_odom_in)"/>
<param name="calib_odom_file" type="str" value="$(arg calib_odom_file)"/>
<param name="publish_odom_tf" type="bool" value="$(arg publish_odom_tf)"/>
<param name="stereo_module/exposure/1" type="int" value="$(arg stereo_module/exposure/1)"/>
<param name="stereo_module/gain/1" type="int" value="$(arg stereo_module/gain/1)"/>
<param name="stereo_module/exposure/2" type="int" value="$(arg stereo_module/exposure/2)"/>
<param name="stereo_module/gain/2" type="int" value="$(arg stereo_module/gain/2)"/>
<param name="filters" type="str" value="$(arg filters)"/>
<param name="clip_distance" type="double" value="$(arg clip_distance)"/>
<param name="linear_accel_cov" type="double" value="$(arg linear_accel_cov)"/>
<param name="initial_reset" type="bool" value="$(arg initial_reset)"/>
<param name="unite_imu_method" type="str" value="$(arg unite_imu_method)"/>
<param name="pointcloud_frame_skip" type="int" value="$(arg pointcloud_frame_skip)"/>
</node>
</launch>