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admin1
2022-08-30 18:52:34 +03:00
commit 46dfd3a9c3
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launch/demo.launch Normal file
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<?xml version="1.0"?>
<launch>
<arg name="use_rviz" default="true" />
<!-- launch rviz with config/rviz_camera_stream.rviz -->
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find rviz_camera_stream)/config/rviz_camera_stream.rviz"
output="screen"
if="$(arg use_rviz)" />
<group ns="camera1">
<node pkg="tf" type="static_transform_publisher" name="camera_broadcaster"
args="0.1 0.1 -0.5 0 0 0 1 map camera1 10" />
<node name="camera_info" pkg="rostopic" type="rostopic"
args="pub camera_info sensor_msgs/CameraInfo
'{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: 'camera1'},
height: 480, width: 640, distortion_model: 'plumb_bob',
D: [0],
K: [500.0, 0.0, 320, 0.0, 500.0, 240.0, 0.0, 0.0, 1.0],
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
P: [500.0, 0.0, 320, 0.0, 0.0, 500, 240, 0.0, 0.0, 0.0, 1.0, 0.0],
binning_x: 0, binning_y: 0,
roi: {x_offset: 0, y_offset: 0, height: 480, width: 640, do_rectify: false}}' -r 2"
output="screen"/>
</group>
<group ns="camera2">
<node pkg="tf" type="static_transform_publisher" name="camera_broadcaster"
args="0.1 -0.1 -2.5 0.01 0 0.02 1 map camera2 10" />
<node name="camera_info" pkg="rostopic" type="rostopic"
args="pub camera_info sensor_msgs/CameraInfo
'{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: 'camera2'},
height: 720, width: 1280, distortion_model: 'plumb_bob',
D: [0],
K: [300.0, 0.0, 640, 0.0, 300.0, 360.0, 0.0, 0.0, 1.0],
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
P: [300.0, 0.0, 640, 0.0, 0.0, 300, 360, 0.0, 0.0, 0.0, 1.0, 0.0],
binning_x: 0, binning_y: 0,
roi: {x_offset: 0, y_offset: 0, height: 720, width: 1280, do_rectify: false}}' -r 2"
output="screen"/>
</group>
<group ns="rviz1/camera1/image">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressed'
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
</group>
<group ns="rviz1/camera2/image">
<rosparam param="disable_pub_plugins">
- 'image_transport/compressed'
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
</group>
</launch>