DuongTD/depth_image_proc
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add file test cam intel D435i

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duongtd
2026-07-21 09:54:31 +07:00
parent fcd02da1a4
commit 4bf19c6a7b
6 changed files with 386 additions and 36 deletions
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launch/depth_image_proc_gazebo.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Use with Gazebo T800: depth topics come from URDF depth camera plugin -->
<arg name="multi_cam" default="true"/>
<arg name="depth_topic" default="/camera/depth/image_raw"/>
<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
<arg name="cloud_topic" default="/camera/depth/points_proc"/>
<arg name="fixed_frame" default="odom"/>
<!-- <arg name="rviz" default="true"/> -->
<node pkg="robot_depth_image_proc"
type="depth_image_proc_node"
name="depth_image_proc"
output="screen">
<param name="multi_cam" value="$(arg multi_cam)"/>
<param name="depth_topic" value="$(arg depth_topic)"/>
<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
<param name="cloud_topic" value="$(arg cloud_topic)"/>
<param name="fixed_frame" value="$(arg fixed_frame)"/>
<param name="publish_tf" value="false"/>
</node>
<!-- <node if="$(arg rviz)"
pkg="rviz"
type="rviz"
name="rviz"
args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_gazebo.rviz"/> -->
</launch>