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[pepper_bringup] add perception.launch.xml
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furushchev committed Sep 14, 2016
1 parent 34ba94c commit bcf0664
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Showing 4 changed files with 85 additions and 0 deletions.
5 changes: 5 additions & 0 deletions pepper_bringup/launch/pepper_full.launch
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<arg name="nao_port" value="$(arg nao_port)" />
</include>

<!-- launch perception -->
<include file="$(find pepper_bringup)/launch/perception.launch.xml">
<arg name="namespace" value="$(arg namespace)" />
</include>

</launch>
5 changes: 5 additions & 0 deletions pepper_bringup/launch/pepper_full_py.launch
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Expand Up @@ -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>
74 changes: 74 additions & 0 deletions pepper_bringup/launch/perception.launch.xml
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<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 camera -->
<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 camera -->
<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>
1 change: 1 addition & 0 deletions pepper_bringup/package.xml
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<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>
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