MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

<?xml version="1.0"?>
<launch>
  <arg name="mynteye" default="mynteye" />

  <!-- node params -->

  <arg name="left_topic" default="left/image_raw" />
  <arg name="right_topic" default="right/image_raw" />
  <arg name="left_rect_topic" default="left_rect/image_rect" />
  <arg name="right_rect_topic" default="right_rect/image_rect" />
  <arg name="disparity_topic" default="disparity/image_raw" />
  <arg name="disparity_norm_topic" default="disparity/image_norm" />
  <arg name="depth_topic" default="depth/image_raw" />
  <arg name="points_topic" default="points/data_raw" />

  <arg name="left_mono_topic" default="left/image_mono" />
  <arg name="right_mono_topic" default="right/image_mono" />

  <arg name="imu_topic" default="imu/data_raw" />
  <arg name="temp_topic" default="temp/data_raw" />

  <arg name="base_frame_id" default="$(arg mynteye)_link" />
  <arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
  <arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
  <arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
  <arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
  <arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
  <arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
  <arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
  <arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />

  <arg name="temp_frame_id" default="$(arg mynteye)_temp_frame" />

  <arg name="gravity" default="9.8" />

  <!-- stream toggles -->

  <!-- Resolution -->
  <arg name="res_752x480"    default="0" />
  <arg name="res_1280x400"   default="1" />
  <arg name="res_2560x800"   default="2" />

  <!-- FrameRate -->
  <arg name="rate_10_fps"   default="10" />
  <arg name="rate_20_fps"   default="20" />
  <arg name="rate_25_fps"   default="25" />
  <arg name="rate_30_fps"   default="30" />
  <arg name="rate_60_fps"   default="60" />

  <!-- Format -->
  <arg name="grey"    default="1497715271" />
  <arg name="yuyv"   default="1497715271" />
  <arg name="bgr888"   default="861030210" />

  <arg name="resolution" default="$(arg res_1280x400)" />
  <arg name="framerate" default="$(arg rate_30_fps)" />
  <arg name="format" default="$(arg bgr888)" />

  <arg name="enable_left_rect" default="false" />
  <arg name="enable_right_rect" default="false" />
  <arg name="enable_disparity" default="false" />
  <arg name="enable_disparity_norm" default="false" />
  <arg name="enable_points" default="false" />
  <arg name="enable_depth" default="false" />

  <!-- device options, -1 will not set the value -->

  <!-- brightness range: [0,240] -->
  <arg name="brightness" default="-1" />
  <!-- <arg name="brightness" default="120" /> -->

  <!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
  <arg name="exposure_mode" default="-1" />
  <!-- <arg name="exposure_mode" default="0" /> -->

  <!-- max_gain range: [0,255] -->
  <arg name="max_gain" default="-1" />
  <!-- <arg name="max_gain" default="8" /> -->

  <!-- max_exposure_time range: [0,1000] -->
  <arg name="max_exposure_time" default="-1" />
  <!-- <arg name="max_exposure_time" default="333" /> -->

  <!-- desired_brightness range: [1,255] -->
  <arg name="desired_brightness" default="-1" />
  <!-- <arg name="desired_brightness" default="122" /> -->

  <!-- min_exposure_time range: [0,1000] -->
  <arg name="min_exposure_time" default="-1" />
  <!-- <arg name="min_exposure_time" default="0" /> -->

  <!-- accel_range range: [6,48] -->
  <arg name="accel_range" default="-1" />
  <!-- <arg name="accel_range" default="6" /> -->

  <!-- gyro_range range: [250,4000] -->
  <arg name="gyro_range" default="-1" />
  <!-- <arg name="gyro_range" default="1000" /> -->

  <!-- accel_low_filter range: [0,2] -->
  <arg name="accel_low_filter" default="-1" />
  <!-- <arg name="accel_low_filter" default="2" /> -->

  <!-- gyro_low_filter range: [23,64] -->
  <arg name="gyro_low_filter" default="-1" />
  <!-- <arg name="gyro_low_filter" default="64" /> -->

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

    <!-- mynteye_wrapper_node -->
    <node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen">

      <!-- node params -->

      <param name="left_topic" value="$(arg left_topic)" />
      <param name="right_topic" value="$(arg right_topic)" />
      <param name="left_rect_topic" value="$(arg left_rect_topic)" />
      <param name="right_rect_topic" value="$(arg right_rect_topic)" />
      <param name="disparity_topic" value="$(arg disparity_topic)" />
      <param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
      <param name="points_topic" value="$(arg points_topic)" />
      <param name="depth_topic" value="$(arg depth_topic)" />

      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
      <param name="right_mono_topic" value="$(arg right_mono_topic)" />

      <param name="imu_topic" value="$(arg imu_topic)" />
      <param name="temp_topic" value="$(arg temp_topic)" />

      <param name="base_frame_id" value="$(arg base_frame_id)" />
      <param name="left_frame_id" value="$(arg left_frame_id)" />
      <param name="right_frame_id" value="$(arg right_frame_id)" />
      <param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
      <param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
      <param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
      <param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
      <param name="points_frame_id" value="$(arg points_frame_id)" />
      <param name="depth_frame_id" value="$(arg depth_frame_id)" />

      <param name="temp_frame_id" value="$(arg temp_frame_id)" />

      <param name="gravity" value="$(arg gravity)" />

      <!-- stream toggles -->

      <param name="enable_left_rect" value="$(arg enable_left_rect)" />
      <param name="enable_right_rect" value="$(arg enable_right_rect)" />
      <param name="enable_disparity" value="$(arg enable_disparity)" />
      <param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
      <param name="enable_points" value="$(arg enable_points)" />
      <param name="enable_depth" value="$(arg enable_depth)" />

      <!-- init params -->
      <param name="resolution" value="$(arg resolution)" />
      <param name="framerate" value="$(arg framerate)" />
      <param name="format" value="$(arg format)" />

      <!-- device options -->

      <param name="brightness" value="$(arg brightness)" />
      <param name="exposure_mode" value="$(arg exposure_mode)" />
      <param name="max_gain" value="$(arg max_gain)" />
      <param name="max_exposure_time" value="$(arg max_exposure_time)" />
      <param name="desired_brightness" value="$(arg desired_brightness)" />
      <param name="min_exposure_time" value="$(arg max_exposure_time)" />
      <param name="accel_range" value="$(arg accel_range)" />
      <param name="gyro_range" value="$(arg gyro_range)" />
      <param name="accel_low_filter" value="$(arg accel_low_filter)" />
      <param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
    </node>

    <!-- disable compressed depth plugin for image topics -->
    <group ns="$(arg left_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
    <group ns="$(arg left_rect_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
    <group ns="$(arg right_rect_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
    <group ns="$(arg right_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
    <group ns="$(arg disparity_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>
    <group ns="$(arg disparity_norm_topic)">
      <rosparam param="disable_pub_plugins">
        - 'image_transport/compressedDepth'
      </rosparam>
    </group>

  </group> <!-- mynteye -->
</launch>