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[jsk_pr2_startup] Set png_level of compressedDepth #1932

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[jsk_pr2_startup] Set png_level of compressedDepth #1932

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59 changes: 59 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/config/pr2_png_level.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,59 @@
# Check each node png_level by the following command
# for f in $(rosparam list | grep png_level); do echo "$f: $(rosparam get $f)"; done

# Set png_level to 5 according to the following information
# https://github.com/start-jsk/jsk_apc/pull/2706
# https://gist.github.com/iory/12dda33908024223be74cb03f19997b5

kinect_head:
depth:
image:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_rect:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_rect_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
depth_registered:
hw_registered:
image_rect:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_rect_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
2 changes: 2 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/pr2.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@
file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch" >
<arg name="monitor_driver" value="true" /> <!-- iory 2022/05/11-->
</include>
<!-- Set image compressedDepth png_leve to 5 -->
<rosparam file="$(find jsk_pr2_startup)/config/pr2_png_level.yaml" command="load"/>

<!-- logging node for PR2 -->
<include if="$(arg launch_db)"
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