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