From 7e6e72928d87b401a184315914f9df7d364f63ee Mon Sep 17 00:00:00 2001
From: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 8 Sep 2016 11:28:41 +0900
Subject: [PATCH] [pepper_bringup] add pepper_perception.launch

---
 pepper_bringup/launch/pepper_full.launch      |  5 ++
 pepper_bringup/launch/pepper_full_py.launch   |  5 ++
 .../launch/pepper_perception.launch           | 74 +++++++++++++++++++
 pepper_bringup/package.xml                    |  1 +
 4 files changed, 85 insertions(+)
 create mode 100644 pepper_bringup/launch/pepper_perception.launch

diff --git a/pepper_bringup/launch/pepper_full.launch b/pepper_bringup/launch/pepper_full.launch
index 29e9bed..eed17b5 100644
--- a/pepper_bringup/launch/pepper_full.launch
+++ b/pepper_bringup/launch/pepper_full.launch
@@ -22,4 +22,9 @@
     <arg name="nao_port"          value="$(arg nao_port)" />
   </include>
 
+  <!-- launch perception -->
+  <include file="$(find pepper_bringup)/launch/pepper_perception.launch">
+    <arg name="namespace"         value="$(arg namespace)" />
+  </include>
+
 </launch>
diff --git a/pepper_bringup/launch/pepper_full_py.launch b/pepper_bringup/launch/pepper_full_py.launch
index bc345cf..da5a2a1 100644
--- a/pepper_bringup/launch/pepper_full_py.launch
+++ b/pepper_bringup/launch/pepper_full_py.launch
@@ -36,4 +36,9 @@
     <arg name="nao_ip"            value="$(arg nao_ip)" />
   </include>
 
+  <!-- launch perception -->
+  <include file="$(find pepper_bringup)/launch/pepper_perception.launch">
+    <arg name="namespace"         value="$(arg namespace)" />
+  </include>
+
 </launch>
diff --git a/pepper_bringup/launch/pepper_perception.launch b/pepper_bringup/launch/pepper_perception.launch
new file mode 100644
index 0000000..b0029a2
--- /dev/null
+++ b/pepper_bringup/launch/pepper_perception.launch
@@ -0,0 +1,74 @@
+<launch>
+  <arg name="namespace" />
+
+  <arg name="respawn" default="false" />
+
+  <arg name="launch_manager" default="true" />
+  <arg name="manager" default="camera_nodelet_manager" />
+  <arg name="debug" default="false" />
+  <arg name="num_worker_threads" default="4" />
+
+  <arg name="depth_registration" default="true" />
+  <arg name="depth_registered" default="depth_registered" />
+  <arg name="hw_registered_processing"        default="true" />
+  <arg name="sw_registered_processing"        default="true" />
+
+  <!-- if depth_registration is set to false, publish pointcloud without rgb instead -->
+  <arg name="points_xyz" value="false" if="$(arg depth_registration)" />
+  <arg name="points_xyz" value="true"  unless="$(arg depth_registration)" />
+
+  <group ns="$(arg namespace)/camera">
+
+    <!-- manager -->
+    <include file="$(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="$(arg num_worker_threads)" />
+    </include>
+
+    <!-- front rgb cameras -->
+    <include file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
+      <arg name="rgb" value="front" />
+      <arg name="manager" value="$(arg manager)" />
+      <arg name="respawn" value="$(arg respawn)" />
+      <arg name="debayer_processing" value="false" />
+    </include>
+
+    <!-- bottom rgb cameras -->
+    <include file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
+      <arg name="rgb" value="bottom" />
+      <arg name="manager" value="$(arg manager)" />
+      <arg name="respawn" value="$(arg respawn)" />
+      <arg name="debayer_processing" value="false" />
+    </include>
+
+    <!-- ir camera -->
+    <include file="$(find rgbd_launch)/launch/includes/ir.launch.xml">
+      <arg name="ir" value="ir" />
+      <arg name="manager" value="$(arg manager)" />
+      <arg name="respawn" value="$(arg respawn)" />
+    </include>
+
+    <!-- depth camera -->
+    <include file="$(find rgbd_launch)/launch/includes/depth.launch.xml">
+      <arg name="depth" value="depth" />
+      <arg name="manager" value="$(arg manager)" />
+      <arg name="rectify" value="true" />
+      <arg name="respawn" value="$(arg respawn)" />
+      <arg name="points_xyz" value="$(arg points_xyz)" />
+    </include>
+
+    <!-- depth registration -->
+    <include file="$(find rgbd_launch)/launch/includes/depth_registered.launch.xml"
+             if="$(arg depth_registration)">
+      <arg name="manager" value="$(arg manager)" />
+      <arg name="respawn" value="$(arg respawn)" />
+      <arg name="rgb" value="front" />
+      <arg name="depth" value="depth" />
+      <arg name="depth_registered" value="$(arg depth_registered)" />
+      <arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
+      <arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
+    </include>
+
+  </group>
+</launch>
diff --git a/pepper_bringup/package.xml b/pepper_bringup/package.xml
index 5314ab2..d7be995 100644
--- a/pepper_bringup/package.xml
+++ b/pepper_bringup/package.xml
@@ -14,6 +14,7 @@
   <run_depend>naoqi_sensors_py</run_depend>
   <run_depend>pepper_description</run_depend>
   <run_depend>pepper_sensors_py</run_depend>
+  <run_depend>rgbd_launch</run_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>roslaunch</test_depend>