28 lines
1.0 KiB
XML
28 lines
1.0 KiB
XML
<?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>
|