60 lines
3.5 KiB
XML
60 lines
3.5 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Use with Gazebo T800: depth topics come from URDF depth camera plugin -->
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<arg name="multi_cam" default="false"/>
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<arg name="depth_topic" default="/camera/depth/image_raw"/>
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<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
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<arg name="cloud_topic" default="/camera/depth/points_proc"/>
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<arg name="fixed_frame" default="odom"/>
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<!-- Limit CPU-heavy filter/projection work while preserving 30 Hz camera input. -->
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<arg name="processing_rate" default="15.0"/>
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<arg name="performance_metrics_enabled" default="true"/>
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<arg name="performance_metrics_period" default="5.0"/>
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<!-- Noise filter + downsampling (applied before publishing the cloud) -->
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<arg name="filter_decimation" default="4"/> <!-- keep 1 of NxN pixels -->
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<arg name="filter_range_min" default="0.3"/> <!-- [m] -->
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<arg name="filter_range_max" default="4.0"/> <!-- [m] -->
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<arg name="filter_speckle_max_delta" default="0.08"/> <!-- [m] neighbor depth tolerance -->
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<arg name="filter_speckle_min_neighbors" default="3"/> <!-- 0 disables speckle filter -->
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<arg name="filter_edge_max_delta" default="0.1"/> <!-- [m] depth jump = object edge; 0 disables -->
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<arg name="filter_edge_dilation" default="2"/> <!-- [px] halo removed around edges -->
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<arg name="filter_edge_window" default="4"/> <!-- [px] wide baseline catching smooth flying-pixel ramps; 1 disables -->
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<arg name="filter_edge_invalid_border" default="true"/> <!-- drop pixels hugging no-data holes at occlusion edges -->
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<arg name="filter_temporal_max_delta" default="0.06"/> <!-- [m] per-frame stability tolerance -->
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<arg name="filter_temporal_min_frames" default="2"/> <!-- stable frames required; 0/1 disables -->
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<arg name="rviz" default="false"/>
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<node pkg="robot_depth_image_proc"
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type="depth_image_proc_node"
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name="depth_image_proc"
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output="screen">
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<param name="multi_cam" value="$(arg multi_cam)"/>
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<param name="depth_topic" value="$(arg depth_topic)"/>
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<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
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<param name="cloud_topic" value="$(arg cloud_topic)"/>
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<param name="fixed_frame" value="$(arg fixed_frame)"/>
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<param name="publish_tf" value="false"/>
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<param name="processing_rate" value="$(arg processing_rate)"/>
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<param name="performance_metrics_enabled" value="$(arg performance_metrics_enabled)"/>
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<param name="performance_metrics_period" value="$(arg performance_metrics_period)"/>
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<param name="filter/decimation" value="$(arg filter_decimation)"/>
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<param name="filter/range_min" value="$(arg filter_range_min)"/>
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<param name="filter/range_max" value="$(arg filter_range_max)"/>
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<param name="filter/speckle_max_delta" value="$(arg filter_speckle_max_delta)"/>
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<param name="filter/speckle_min_neighbors" value="$(arg filter_speckle_min_neighbors)"/>
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<param name="filter/edge_max_delta" value="$(arg filter_edge_max_delta)"/>
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<param name="filter/edge_dilation" value="$(arg filter_edge_dilation)"/>
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<param name="filter/edge_window" value="$(arg filter_edge_window)"/>
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<param name="filter/edge_invalid_border" value="$(arg filter_edge_invalid_border)"/>
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<param name="filter/temporal_max_delta" value="$(arg filter_temporal_max_delta)"/>
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<param name="filter/temporal_min_frames" value="$(arg filter_temporal_min_frames)"/>
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</node>
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<node if="$(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_gazebo.rviz"/>
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</launch>
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