feat(ros): compatible yaml configure file for sub/mynteye_*.launch
This commit is contained in:
Osenberg
parent
092b98ca42
commit
550d4d7cfd
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@ -41,191 +41,6 @@
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<arg name="gravity" default="9.8" />
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<arg name="gravity" default="9.8" />
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<arg name="mesh_file" default="S1030-0315.obj" />
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<arg name="mesh_file" default="S1030-0315.obj" />
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<!-- stream toggles -->
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<!-- Request index -->
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<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
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<arg name="index_s2_0" default="0" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
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<arg name="index_s2_1" default="1" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
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<arg name="index_s2_2" default="2" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
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<arg name="index_s2_3" default="3" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
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<arg name="index_s2_4" default="4" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
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<arg name="index_s2_5" default="5" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
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<arg name="index_s2_6" default="6" />
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<arg name="standard2/request_index" default="$(arg index_s2_2)" />
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<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
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<arg name="index_s_0" default="0" />
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<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
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<arg name="index_s_1" default="1" />
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<arg name="standard/request_index" default="$(arg index_s_0)" />
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<!-- disparity computing method type -->
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<arg name="sgbm" default="0" />
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<arg name="bm" default="1" />
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<arg name="disparity_computing_method" default="$(arg bm)" />
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<arg name="enable_left_rect" default="false" />
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<arg name="enable_right_rect" default="false" />
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<arg name="enable_disparity" default="false" />
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<arg name="enable_disparity_norm" default="false" />
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<arg name="enable_points" default="false" />
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<arg name="enable_depth" default="false" />
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<!-- device options of standard, -1 will not set the value -->
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<!-- standard/gain range: [0,48] -->
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<arg name="standard/gain" default="-1" />
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<!-- <arg name="standard/gain" default="24" /> -->
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<!-- standard/brightness range: [0,240] -->
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<arg name="standard/brightness" default="-1" />
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<!-- <arg name="standard/brightness" default="120" /> -->
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<!-- contrast range: [0,255] -->
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<arg name="standard/contrast" default="-1" />
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<!-- <arg name="standard/contrast" default="127" /> -->
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<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
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<arg name="standard/frame_rate" default="-1" />
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<!-- <arg name="standard/frame_rate" default="25" /> -->
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<!-- standard/imu_frequency range: {100,200,250,333,500} -->
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<arg name="standard/imu_frequency" default="-1" />
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<!-- <arg name="standard/imu_frequency" default="200" /> -->
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<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
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<arg name="standard/exposure_mode" default="-1" />
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<!-- <arg name="standard/exposure_mode" default="0" /> -->
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<!-- standard/max_gain range: [0,48] -->
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<arg name="standard/max_gain" default="-1" />
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<!-- <arg name="standard/max_gain" default="48" /> -->
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<!-- standard/max_exposure_time range: [0,240] -->
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<arg name="standard/max_exposure_time" default="-1" />
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<!-- <arg name="standard/max_exposure_time" default="240" /> -->
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<!-- standard/desired_brightness range: [0,255] -->
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<arg name="standard/desired_brightness" default="-1" />
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<!-- <arg name="standard/desired_brightness" default="192" /> -->
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<!-- standard/ir_control range: [0,160] -->
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<arg name="standard/ir_control" default="80" />
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<!-- <arg name="standard/ir_control" default="0" /> -->
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<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
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<arg name="standard/hdr_mode" default="-1" />
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<!-- <arg name="standard/hdr_mode" default="0" /> -->
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<!-- standard/accel_range range: {4,8,16,32} -->
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<arg name="standard/accel_range" default="-1" />
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<!-- <arg name="standard/accel_range" default="8" /> -->
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<!-- standard/gyro_range range: {500,1000,2000,4000} -->
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<arg name="standard/gyro_range" default="-1" />
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<!-- <arg name="standard/gyro_range" default="1000" /> -->
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<!-- device options of standard2, -1 will not set the value -->
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<!-- standard2/brightness range: [0,240] -->
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<arg name="standard2/brightness" default="-1" />
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<!-- <arg name="standard2/brightness" default="120" /> -->
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<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
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<arg name="standard2/exposure_mode" default="-1" />
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<!-- <arg name="standard2/exposure_mode" default="0" /> -->
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<!-- standard2/max_gain range: [0,255] -->
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<arg name="standard2/max_gain" default="-1" />
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<!-- <arg name="standard2/max_gain" default="8" /> -->
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<!-- standard2/max_exposure_time range: [0,1000] -->
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<arg name="standard2/max_exposure_time" default="-1" />
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<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
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<!-- standard2/desired_brightness range: [1,255] -->
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<arg name="standard2/desired_brightness" default="-1" />
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<!-- <arg name="standard2/desired_brightness" default="122" /> -->
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<!-- standard2/min_exposure_time range: [0,1000] -->
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<arg name="standard2/min_exposure_time" default="-1" />
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<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
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<!-- standard2/ir_control range: [0,160] -->
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<arg name="standard2/ir_control" default="80" />
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<!-- <arg name="standard2/ir_control" default="0" /> -->
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<!-- standard2/accel_range range: [6,48] -->
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<arg name="standard2/accel_range" default="24" />
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<!-- <arg name="standard2/accel_range" default="6" /> -->
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<!-- standard2/gyro_range range: [250,4000] -->
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<arg name="standard2/gyro_range" default="-1" />
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<!-- <arg name="standard2/gyro_range" default="1000" /> -->
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<!-- standard2/accel_low_filter range: [0,2] -->
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<arg name="standard2/accel_low_filter" default="-1" />
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<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
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<!-- standard2/gyro_low_filter range: [23,64] -->
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<arg name="standard2/gyro_low_filter" default="-1" />
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<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
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<!-- device options of standard210a, -1 will not set the value -->
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<!-- standard210a/brightness range: [0,240] -->
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<arg name="standard210a/brightness" default="-1" />
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<!-- <arg name="standard210a/brightness" default="120" /> -->
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<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
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<arg name="standard210a/exposure_mode" default="-1" />
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<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
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<!-- standard210a/max_gain range: [0,255] -->
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<arg name="standard210a/max_gain" default="-1" />
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<!-- <arg name="standard210a/max_gain" default="8" /> -->
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<!-- standard210a/max_exposure_time range: [0,1000] -->
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<arg name="standard210a/max_exposure_time" default="-1" />
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<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
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<!-- standard210a/desired_brightness range: [1,255] -->
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<arg name="standard210a/desired_brightness" default="-1" />
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<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
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<!-- standard210a/min_exposure_time range: [0,1000] -->
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<arg name="standard210a/min_exposure_time" default="-1" />
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<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
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<!-- standard210a/accel_range range: [6,48] -->
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<arg name="standard210a/accel_range" default="-1" />
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<!-- <arg name="standard210a/accel_range" default="6" /> -->
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<!-- standard210a/gyro_range range: [250,4000] -->
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<arg name="standard210a/gyro_range" default="-1" />
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<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
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<!-- standard210a/accel_low_filter range: [0,2] -->
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<arg name="standard210a/accel_low_filter" default="-1" />
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<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
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<!-- standard210a/gyro_low_filter range: [23,64] -->
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<arg name="standard210a/gyro_low_filter" default="-1" />
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<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
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<!-- Push down all topics/nodelets into "mynteye" namespace -->
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<!-- Push down all topics/nodelets into "mynteye" namespace -->
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<group ns="$(arg mynteye)">
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<group ns="$(arg mynteye)">
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@ -265,66 +80,11 @@
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<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
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<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
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<param name="gravity" value="$(arg gravity)" />
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<param name="gravity" value="$(arg gravity)" />
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<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
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<!-- stream toggles -->
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<param name="enable_left_rect" value="$(arg enable_left_rect)" />
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<param name="enable_right_rect" value="$(arg enable_right_rect)" />
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<param name="enable_disparity" value="$(arg enable_disparity)" />
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<param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
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<param name="enable_points" value="$(arg enable_points)" />
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<param name="enable_depth" value="$(arg enable_depth)" />
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<!-- stream request index -->
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<param name="standard/request_index" value="$(arg standard/request_index)" />
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<param name="standard2/request_index" value="$(arg standard2/request_index)" />
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<!-- device options of standard-->
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<param name="standard/gain" value="$(arg standard/gain)" />
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<param name="standard/brightness" value="$(arg standard/brightness)" />
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<param name="standard/contrast" value="$(arg standard/contrast)" />
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<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
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<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
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<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
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<param name="standard/max_gain" value="$(arg standard/max_gain)" />
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<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
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<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
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<param name="standard/ir_control" value="$(arg standard/ir_control)" />
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<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
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<param name="standard/accel_range" value="$(arg standard/accel_range)" />
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<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
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<!-- device options of standard2-->
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<param name="standard2/brightness" value="$(arg standard2/brightness)" />
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<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
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<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
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<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
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<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
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<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
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<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
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<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
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<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
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<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
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<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
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<!-- device options of standard210a-->
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<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
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<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
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<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
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<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
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<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
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<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
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<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
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<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
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<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
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<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
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</node>
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</node>
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<!-- disable compressed depth plugin for image topics -->
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<!-- disable compressed depth plugin for image topics -->
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<arg name="gravity" default="9.8" />
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<arg name="gravity" default="9.8" />
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<arg name="mesh_file" default="S1030-0315.obj" />
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<arg name="mesh_file" default="S1030-0315.obj" />
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<!-- stream toggles -->
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<!-- Request index -->
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<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
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<arg name="index_s2_0" default="0" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
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<arg name="index_s2_1" default="1" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
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<arg name="index_s2_2" default="2" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
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<arg name="index_s2_3" default="3" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
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<arg name="index_s2_4" default="4" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
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<arg name="index_s2_5" default="5" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
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<arg name="index_s2_6" default="6" />
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<arg name="standard2/request_index" default="$(arg index_s2_2)" />
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<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
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<arg name="index_s_0" default="0" />
|
|
||||||
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
|
|
||||||
<arg name="index_s_1" default="1" />
|
|
||||||
|
|
||||||
<arg name="standard/request_index" default="$(arg index_s_0)" />
|
|
||||||
|
|
||||||
<!-- disparity computing method type -->
|
|
||||||
<arg name="sgbm" default="0" />
|
|
||||||
<arg name="bm" default="1" />
|
|
||||||
<arg name="disparity_computing_method" default="$(arg bm)" />
|
|
||||||
|
|
||||||
<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 of standard, -1 will not set the value -->
|
|
||||||
|
|
||||||
<!-- standard/gain range: [0,48] -->
|
|
||||||
<arg name="standard/gain" default="-1" />
|
|
||||||
<!-- <arg name="standard/gain" default="24" /> -->
|
|
||||||
|
|
||||||
<!-- standard/brightness range: [0,240] -->
|
|
||||||
<arg name="standard/brightness" default="-1" />
|
|
||||||
<!-- <arg name="standard/brightness" default="120" /> -->
|
|
||||||
|
|
||||||
<!-- contrast range: [0,255] -->
|
|
||||||
<arg name="standard/contrast" default="-1" />
|
|
||||||
<!-- <arg name="standard/contrast" default="127" /> -->
|
|
||||||
|
|
||||||
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
|
|
||||||
<arg name="standard/frame_rate" default="-1" />
|
|
||||||
<!-- <arg name="standard/frame_rate" default="25" /> -->
|
|
||||||
|
|
||||||
<!-- standard/imu_frequency range: {100,200,250,333,500} -->
|
|
||||||
<arg name="standard/imu_frequency" default="-1" />
|
|
||||||
<!-- <arg name="standard/imu_frequency" default="200" /> -->
|
|
||||||
|
|
||||||
<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
|
|
||||||
<arg name="standard/exposure_mode" default="-1" />
|
|
||||||
<!-- <arg name="standard/exposure_mode" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard/max_gain range: [0,48] -->
|
|
||||||
<arg name="standard/max_gain" default="-1" />
|
|
||||||
<!-- <arg name="standard/max_gain" default="48" /> -->
|
|
||||||
|
|
||||||
<!-- standard/max_exposure_time range: [0,240] -->
|
|
||||||
<arg name="standard/max_exposure_time" default="-1" />
|
|
||||||
<!-- <arg name="standard/max_exposure_time" default="240" /> -->
|
|
||||||
|
|
||||||
<!-- standard/desired_brightness range: [0,255] -->
|
|
||||||
<arg name="standard/desired_brightness" default="-1" />
|
|
||||||
<!-- <arg name="standard/desired_brightness" default="192" /> -->
|
|
||||||
|
|
||||||
<!-- standard/ir_control range: [0,160] -->
|
|
||||||
<arg name="standard/ir_control" default="80" />
|
|
||||||
<!-- <arg name="standard/ir_control" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
|
|
||||||
<arg name="standard/hdr_mode" default="-1" />
|
|
||||||
<!-- <arg name="standard/hdr_mode" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard/accel_range range: {4,8,16,32} -->
|
|
||||||
<arg name="standard/accel_range" default="-1" />
|
|
||||||
<!-- <arg name="standard/accel_range" default="8" /> -->
|
|
||||||
|
|
||||||
<!-- standard/gyro_range range: {500,1000,2000,4000} -->
|
|
||||||
<arg name="standard/gyro_range" default="-1" />
|
|
||||||
<!-- <arg name="standard/gyro_range" default="1000" /> -->
|
|
||||||
|
|
||||||
<!-- device options of standard2, -1 will not set the value -->
|
|
||||||
|
|
||||||
<!-- standard2/brightness range: [0,240] -->
|
|
||||||
<arg name="standard2/brightness" default="-1" />
|
|
||||||
<!-- <arg name="standard2/brightness" default="120" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
|
|
||||||
<arg name="standard2/exposure_mode" default="-1" />
|
|
||||||
<!-- <arg name="standard2/exposure_mode" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/max_gain range: [0,255] -->
|
|
||||||
<arg name="standard2/max_gain" default="-1" />
|
|
||||||
<!-- <arg name="standard2/max_gain" default="8" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/max_exposure_time range: [0,1000] -->
|
|
||||||
<arg name="standard2/max_exposure_time" default="-1" />
|
|
||||||
<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/desired_brightness range: [1,255] -->
|
|
||||||
<arg name="standard2/desired_brightness" default="-1" />
|
|
||||||
<!-- <arg name="standard2/desired_brightness" default="122" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/min_exposure_time range: [0,1000] -->
|
|
||||||
<arg name="standard2/min_exposure_time" default="-1" />
|
|
||||||
<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/ir_control range: [0,160] -->
|
|
||||||
<arg name="standard2/ir_control" default="80" />
|
|
||||||
<!-- <arg name="standard2/ir_control" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/accel_range range: [6,48] -->
|
|
||||||
<arg name="standard2/accel_range" default="24" />
|
|
||||||
<!-- <arg name="standard2/accel_range" default="6" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/gyro_range range: [250,4000] -->
|
|
||||||
<arg name="standard2/gyro_range" default="-1" />
|
|
||||||
<!-- <arg name="standard2/gyro_range" default="1000" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/accel_low_filter range: [0,2] -->
|
|
||||||
<arg name="standard2/accel_low_filter" default="-1" />
|
|
||||||
<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
|
|
||||||
|
|
||||||
<!-- standard2/gyro_low_filter range: [23,64] -->
|
|
||||||
<arg name="standard2/gyro_low_filter" default="-1" />
|
|
||||||
<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
|
|
||||||
|
|
||||||
<!-- device options of standard210a, -1 will not set the value -->
|
|
||||||
|
|
||||||
<!-- standard210a/brightness range: [0,240] -->
|
|
||||||
<arg name="standard210a/brightness" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/brightness" default="120" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
|
|
||||||
<arg name="standard210a/exposure_mode" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/max_gain range: [0,255] -->
|
|
||||||
<arg name="standard210a/max_gain" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/max_gain" default="8" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/max_exposure_time range: [0,1000] -->
|
|
||||||
<arg name="standard210a/max_exposure_time" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/desired_brightness range: [1,255] -->
|
|
||||||
<arg name="standard210a/desired_brightness" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/min_exposure_time range: [0,1000] -->
|
|
||||||
<arg name="standard210a/min_exposure_time" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/accel_range range: [6,48] -->
|
|
||||||
<arg name="standard210a/accel_range" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/accel_range" default="6" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/gyro_range range: [250,4000] -->
|
|
||||||
<arg name="standard210a/gyro_range" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/accel_low_filter range: [0,2] -->
|
|
||||||
<arg name="standard210a/accel_low_filter" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
|
|
||||||
|
|
||||||
<!-- standard210a/gyro_low_filter range: [23,64] -->
|
|
||||||
<arg name="standard210a/gyro_low_filter" default="-1" />
|
|
||||||
<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
|
|
||||||
|
|
||||||
<!-- Push down all topics/nodelets into "mynteye" namespace -->
|
<!-- Push down all topics/nodelets into "mynteye" namespace -->
|
||||||
<group ns="$(arg mynteye)">
|
<group ns="$(arg mynteye)">
|
||||||
|
|
||||||
|
|
@ -265,66 +80,11 @@
|
||||||
|
|
||||||
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
|
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
|
||||||
|
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
|
||||||
|
|
||||||
<param name="gravity" value="$(arg gravity)" />
|
<param name="gravity" value="$(arg gravity)" />
|
||||||
|
|
||||||
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
|
|
||||||
|
|
||||||
<!-- 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)" />
|
|
||||||
|
|
||||||
<!-- stream request index -->
|
|
||||||
<param name="standard/request_index" value="$(arg standard/request_index)" />
|
|
||||||
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
|
|
||||||
|
|
||||||
<!-- device options of standard-->
|
|
||||||
|
|
||||||
<param name="standard/gain" value="$(arg standard/gain)" />
|
|
||||||
<param name="standard/brightness" value="$(arg standard/brightness)" />
|
|
||||||
<param name="standard/contrast" value="$(arg standard/contrast)" />
|
|
||||||
<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
|
|
||||||
<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
|
|
||||||
<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
|
|
||||||
<param name="standard/max_gain" value="$(arg standard/max_gain)" />
|
|
||||||
<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
|
|
||||||
<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
|
|
||||||
<param name="standard/ir_control" value="$(arg standard/ir_control)" />
|
|
||||||
<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
|
|
||||||
<param name="standard/accel_range" value="$(arg standard/accel_range)" />
|
|
||||||
<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
|
|
||||||
|
|
||||||
<!-- device options of standard2-->
|
|
||||||
|
|
||||||
<param name="standard2/brightness" value="$(arg standard2/brightness)" />
|
|
||||||
<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
|
|
||||||
<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
|
|
||||||
<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
|
|
||||||
<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
|
|
||||||
<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
|
|
||||||
<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
|
|
||||||
<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
|
|
||||||
<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
|
|
||||||
<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
|
|
||||||
<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
|
|
||||||
|
|
||||||
<!-- device options of standard210a-->
|
|
||||||
|
|
||||||
<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
|
|
||||||
<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
|
|
||||||
<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
|
|
||||||
<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
|
|
||||||
<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
|
|
||||||
<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
|
|
||||||
<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
|
|
||||||
<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
|
|
||||||
<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
|
|
||||||
<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
|
|
||||||
|
|
||||||
</node>
|
</node>
|
||||||
|
|
||||||
<!-- disable compressed depth plugin for image topics -->
|
<!-- disable compressed depth plugin for image topics -->
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user