feat(ros): add slam launch
This commit is contained in:
TinyOh
parent
1f945d2bae
commit
588781028f
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@ -0,0 +1,58 @@
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# standard/gain range: [0,48]
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sstandard/gain: -1
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# standard/gain: 24
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# standard/brightness range: [0,240]
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standard/brightness: -1
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# standard/brightness: 120
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# contrast range: [0,255]
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standard/contrast: -1
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# standard/contrast: 127
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# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
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standard/frame_rate: -1
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# standard/frame_rate: 25
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# standard/imu_frequency range: {100,200,250,333,500}
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standard/imu_frequency: -1
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# standard/imu_frequency: 200
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# standard/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard/exposure_mode: -1
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# standard/exposure_mode: 0
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# standard/max_gain range: [0,48]
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standard/max_gain: -1
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# standard/max_gain: 48
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# standard/max_exposure_time range: [0,240]
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standard/max_exposure_time: -1
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# standard/max_exposure_time: 240
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# standard/desired_brightness range: [0,255]
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standard/desired_brightness: -1
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# standard/desired_brightness: 192
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# standard/ir_control range: [0,160]
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standard/ir_control: 80
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# standard/ir_control: 0
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# standard/hdr_mode, 0: 10-bit, 1: 12-bit
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standard/hdr_mode: -1
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# standard/hdr_mode: 0
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# standard/accel_range range: {4,8,16,32}
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standard/accel_range: -1
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# standard/accel_range: 8
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# standard/gyro_range range: {500,1000,2000,4000}
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standard/gyro_range: -1
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# standard/gyro_range: 1000
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# MYNTEYE-S1030, Reslution: 752x480, Format: YUYV
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# index_s_0: 0
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# MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
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# index_s_1: 1
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standard/request_index: 0
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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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# index_s2_0: 0
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
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# index_s2_1: 1
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
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# index_s2_2: 2
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
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# index_s2_3: 3
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
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# index_s2_4: 4
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
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# index_s2_5: 5
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
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# index_s2_6: 6
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standard2/request_index: 2
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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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standard2/brightness: -1
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# standard2/brightness: 120
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# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard2/exposure_mode: -1
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# standard2/exposure_mode: 0
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# standard2/max_gain range: [0,255]
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standard2/max_gain: -1
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# standard2/max_gain: 8
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# standard2/max_exposure_time range: [0,1000]
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standard2/max_exposure_time: -1
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# standard2/max_exposure_time: 333
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# standard2/desired_brightness range: [1,255]
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standard2/desired_brightness: -1
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# standard2/desired_brightness: 122
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# standard2/min_exposure_time range: [0,1000]
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standard2/min_exposure_time: -1
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# standard2/min_exposure_time: 0
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# standard2/ir_control range: [0,160]
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standard2/ir_control: 80
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# standard2/ir_control: 0
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# standard2/accel_range range: [6,48]
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standard2/accel_range: 24
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# standard2/accel_range: 6
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# standard2/gyro_range range: [250,4000]
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standard2/gyro_range: -1
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# standard2/gyro_range: 1000
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# standard2/accel_low_filter range: [0,2]
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standard2/accel_low_filter: -1
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# standard2/accel_low_filter: 2
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# standard2/gyro_low_filter range: [23,64]
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standard2/gyro_low_filter: -1
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# standard2/gyro_low_filter: 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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standard210a/brightness: -1
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# standard210a/brightness: 120
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# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard210a/exposure_mode: -1
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# standard210a/exposure_mode: 0
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# standard210a/max_gain range: [0,255]
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standard210a/max_gain: -1
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# standard210a/max_gain: 8
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# standard210a/max_exposure_time range: [0,1000]
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standard210a/max_exposure_time: -1
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# standard210a/max_exposure_time: 333
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# standard210a/desired_brightness range: [1,255]
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standard210a/desired_brightness: -1
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# standard210a/desired_brightness: 122
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# standard210a/min_exposure_time range: [0,1000]
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standard210a/min_exposure_time: -1
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# standard210a/min_exposure_time: 0
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# standard210a/accel_range range: [6,48]
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standard210a/accel_range: -1
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# standard210a/accel_range: 6
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# standard210a/gyro_range range: [250,4000]
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standard210a/gyro_range: -1
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# standard210a/gyro_range: 1000
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# standard210a/accel_low_filter range: [0,2]
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standard210a/accel_low_filter: -1
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# standard210a/accel_low_filter: 2
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# standard210a/gyro_low_filter range: [23,64]
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standard210a/gyro_low_filter: -1
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# standard210a/gyro_low_filter: 64
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# disparity computing method type
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# sgbm: 0
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# bm: 1
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disparity_computing_method: 1
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enable_left_rect: false
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enable_right_rect: false
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enable_disparity: false
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enable_disparity_norm: false
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enable_points: false
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enable_depth: false
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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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# index_s2_0: "0"
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
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# index_s2_1: "1"
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
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# index_s2_2: "2"
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
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# index_s2_3: "3"
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
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# index_s2_4: "4"
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
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# index_s2_5: "5"
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
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# index_s2_6: "6"
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standard2/request_index: 1
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@ -35,190 +35,6 @@
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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] -->
|
|
||||||
<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="$(arg mynteye)">
|
||||||
|
|
||||||
|
|
@ -255,66 +71,11 @@
|
||||||
|
|
||||||
<param name="temperature_frame_id" value="$(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" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" />
|
||||||
|
|
||||||
<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="$(arg standard2/request_index)" />
|
|
||||||
|
|
||||||
<!-- device options of standard-->
|
|
||||||
|
|
||||||
<param name="sstandard/gain" value="$(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="$(arg standard210a/gyro_low_filter)" />
|
|
||||||
|
|
||||||
</node>
|
</node>
|
||||||
|
|
||||||
<!-- disable compressed depth plugin for image topics -->
|
<!-- disable compressed depth plugin for image topics -->
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,129 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<launch>
|
||||||
|
<arg name="mynteye" default="mynteye" />
|
||||||
|
|
||||||
|
<!-- node params -->
|
||||||
|
|
||||||
|
<arg name="left_topic" default="left/image_raw" />
|
||||||
|
<arg name="right_topic" default="right/image_raw" />
|
||||||
|
<arg name="left_rect_topic" default="left_rect/image_rect" />
|
||||||
|
<arg name="right_rect_topic" default="right_rect/image_rect" />
|
||||||
|
<arg name="disparity_topic" default="disparity/image_raw" />
|
||||||
|
<arg name="disparity_norm_topic" default="disparity/image_norm" />
|
||||||
|
<arg name="depth_topic" default="depth/image_raw" />
|
||||||
|
<arg name="points_topic" default="points/data_raw" />
|
||||||
|
|
||||||
|
<arg name="left_mono_topic" default="left/image_mono" />
|
||||||
|
<arg name="right_mono_topic" default="right/image_mono" />
|
||||||
|
|
||||||
|
<arg name="imu_topic" default="imu/data_raw" />
|
||||||
|
<arg name="temperature_topic" default="temperature/data_raw" />
|
||||||
|
|
||||||
|
<arg name="base_frame_id" default="$(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="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
|
||||||
|
|
||||||
|
<arg name="gravity" default="9.8" />
|
||||||
|
|
||||||
|
<arg name="mesh_file" default="S1030-0315.obj" />
|
||||||
|
|
||||||
|
<!-- Push down all topics/nodelets into "mynteye" namespace -->
|
||||||
|
<group ns="$(arg mynteye)">
|
||||||
|
|
||||||
|
<!-- mynteye_wrapper_node -->
|
||||||
|
<node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
|
||||||
|
|
||||||
|
<!-- 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="mesh_file" value="$(arg mesh_file)" />
|
||||||
|
|
||||||
|
<param name="left_mono_topic" value="$(arg left_mono_topic)" />
|
||||||
|
<param name="right_mono_topic" value="$(arg right_mono_topic)" />
|
||||||
|
|
||||||
|
<param name="imu_topic" value="$(arg imu_topic)" />
|
||||||
|
<param name="temperature_topic" value="$(arg temperature_topic)" />
|
||||||
|
|
||||||
|
<param name="base_frame_id" value="$(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="temperature_frame_id" value="$(arg temperature_frame_id)" />
|
||||||
|
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" />
|
||||||
|
<rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" />
|
||||||
|
|
||||||
|
<param name="gravity" value="$(arg gravity)" />
|
||||||
|
</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="$(arg left_mono_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_mono_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_rect_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg disparity_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg disparity_norm_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg depth_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
</group> <!-- mynteye -->
|
||||||
|
</launch>
|
||||||
|
|
@ -1076,6 +1076,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
||||||
model_ = api_->GetModel();
|
model_ = api_->GetModel();
|
||||||
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
|
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
|
||||||
private_nh_.getParam("standard2/request_index", request_index);
|
private_nh_.getParam("standard2/request_index", request_index);
|
||||||
|
std::cout << request_index << std::endl;
|
||||||
switch (request_index) {
|
switch (request_index) {
|
||||||
case 0:
|
case 0:
|
||||||
case 4:
|
case 4:
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user