DuongTD/depth_image_proc
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duongtd
2026-06-24 17:42:12 +07:00
commit 539b692d42
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27
launch/depth_image_proc_realsense.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Topics from RealSense depth_publisher.py -->
<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"/>
<arg name="fixed_frame" default="map"/>
<arg name="publish_tf" default="true"/>
<arg name="rviz" default="true"/>
<node pkg="robot_depth_image_proc"
type="depth_image_proc_node"
name="depth_image_proc"
output="screen">
<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="$(arg publish_tf)"/>
</node>
<node if="$(arg rviz)"
pkg="rviz"
type="rviz"
name="rviz"
args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_realsense.rviz"/>
</launch>

31
launch/depth_image_proc_test.launch Normal file
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<?xml version="1.0"?>
<launch>
<arg name="frame_id" default="camera_depth_optical_frame"/>
<arg name="fixed_frame" default="map"/>
<arg name="publish_rate" default="10.0"/>
<arg name="width" default="640"/>
<arg name="height" default="480"/>
<arg name="rviz" default="true"/>
<node pkg="robot_depth_image_proc"
type="depth_image_proc_test_node"
name="depth_image_proc_test"
output="screen">
<param name="frame_id" value="$(arg frame_id)"/>
<param name="fixed_frame" value="$(arg fixed_frame)"/>
<param name="publish_rate" value="$(arg publish_rate)"/>
<param name="width" value="$(arg width)"/>
<param name="height" value="$(arg height)"/>
</node>
<node pkg="tf2_ros"
type="static_transform_publisher"
name="camera_depth_tf"
args="0 0 0 0 0 0 $(arg fixed_frame) $(arg frame_id)"/>
<node if="$(arg rviz)"
pkg="rviz"
type="rviz"
name="rviz"
args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_test.rviz"/>
</launch>