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adding launch files
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Laura Lindzey committed Nov 28, 2013
1 parent 64e6c9d commit 0637f11
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Showing 2 changed files with 119 additions and 3 deletions.
116 changes: 116 additions & 0 deletions shared_autonomy_launch/launch/openni_segmentation.launch
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<!-- Entry point for using OpenNI devices -->
<launch>

<!-- "camera" should uniquely identify the device. All topics are pushed down
into the "camera" namespace, and it is prepended to tf frame ids. -->
<arg name="camera" default="head_mount_kinect" />
<arg name="tf_prefix" default="" />
<arg name="rgb_frame_id" default="$(arg camera)_rgb_optical_frame" />
<arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />

<!-- device_id can have the following formats:
"B00367707227042B": Use device with given serial number
"#1" : Use first device found
"2@3" : Use device on USB bus 2, address 3
"2@0" : Use first device found on USB bus 2
-->
<arg name="device_id" default="#1" />

<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
See camera_info_manager docs for calibration URL details. -->
<arg name="rgb_camera_info_url" default="" />
<arg name="depth_camera_info_url" default="" />

<!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
<arg name="depth_registration" default="true" />

<!-- Arguments for remapping all device namespaces -->
<arg name="rgb" default="rgb" />
<arg name="ir" default="ir" />
<arg name="depth" default="depth" />
<arg name="depth_registered" default="depth_registered" />
<arg name="projector" default="projector" />

<!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
tree. Useful if you are playing back recorded raw data from a bag, or are
supplying a more accurate tf tree from calibration. -->
<arg name="load_driver" default="true" />
<arg name="publish_tf" default="false" />
<!-- Processing Modules -->
<arg name="rgb_processing" default="true"/>
<arg name="ir_processing" default="true"/>
<arg name="depth_processing" default="true"/>
<arg name="depth_registered_processing" default="true"/>
<arg name="disparity_processing" default="true"/>
<arg name="disparity_registered_processing" default="true"/>
<arg name="hw_registered_processing" default="true" />
<arg name="sw_registered_processing" default="true" />

<!-- Disable bond topics by default -->
<arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead -->
<arg name="respawn" default="$(arg bond)" />

<!-- Worker threads for the nodelet manager -->
<arg name="num_worker_threads" default="4" />

<!-- Push down all topics/nodelets into "camera" namespace -->
<group ns="$(arg camera)">

<!-- Start nodelet manager in top-level namespace -->
<arg name="manager" value="$(arg camera)_nodelet_manager" />
<arg name="debug" default="false" /> <!-- Run manager in GDB? -->
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="$(arg debug)" />
<arg name="num_worker_threads" value="$(arg num_worker_threads)" />
</include>

<!-- Load driver -->
<include if="$(arg load_driver)"
file="$(find openni_launch)/launch/includes/device.launch.xml">
<!-- Could really use some syntactic sugar for this -->
<arg name="manager" value="$(arg manager)" />
<arg name="device_id" value="$(arg device_id)" />
<arg name="rgb_frame_id" value="$(arg rgb_frame_id)" />
<arg name="depth_frame_id" value="$(arg depth_frame_id)" />
<arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)" />
<arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
<arg name="depth_registration" value="$(arg depth_registration)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
</include>

<!-- Load standard constellation of processing nodelets -->
<include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
<arg name="manager" value="$(arg manager)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="rgb_processing" value="$(arg rgb_processing)" />
<arg name="ir_processing" value="$(arg ir_processing)" />
<arg name="depth_processing" value="$(arg depth_processing)" />
<arg name="depth_registered_processing" value="$(arg depth_registered_processing)" />
<arg name="disparity_processing" value="$(arg disparity_processing)" />
<arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
</include>

</group> <!-- camera -->

<!-- Load reasonable defaults for the relative pose between cameras -->
<include if="$(arg publish_tf)"
file="$(find rgbd_launch)/launch/kinect_frames.launch">
<arg name="camera" value="$(arg camera)" />
<arg name="tf_prefix" value="$(arg tf_prefix)" />
</include>

</launch>
6 changes: 3 additions & 3 deletions shared_autonomy_launch/launch/pr2_segmentation.launch
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openni_kinect does -->
<node name="assemble_kinect" pkg="assemble_kinect" type="assemble_kinect" output="screen">
<remap from="camera/rgb/image_color" to="$(arg kinect_name)/rgb/image_color"/>
<remap from="camera/depth_registered/image" to="$(arg kinect_name)/depth_registered/image"/>
<remap from="camera/depth_registered/image" to="$(arg kinect_name)/depth_registered/image_raw"/>
<remap from="camera/depth_registered/camera_info" to="$(arg kinect_name)/depth_registered/camera_info"/>
<remap from="camera/depth_registered/points" to="$(arg kinect_name)/depth_registered/points"/>
<remap from="camera/assemble_kinect" to="$(arg kinect_name)/assemble_kinect"/>
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<param name="ppm" value="100"/>
</node>


<!--
<node name="run_segmentation" pkg="clear_table" type="run_segmentation.py">
<remap from="assemble_kinect" to="$(arg kinect_name)/assemble_kinect"/>
<remap from="segment_service" to="$(arg segment_service)"/>
<param name="data_wait" value="10.0"/>
</node>

-->
</launch>

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