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Support enable stream and publish them in ros

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This commit is contained in:
John Zhao
2018-04-30 10:51:09 +08:00
parent f3d6fcdcb9
commit f636ba3a86
3 changed files with 331 additions and 80 deletions
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48
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -6,17 +6,40 @@
<arg name="left_topic" default="left" />
<arg name="right_topic" default="right" />
<arg name="left_rect_topic" default="left_rect" />
<arg name="right_rect_topic" default="right_rect" />
<arg name="disparity_topic" default="disparity" />
<arg name="disparity_norm_topic" default="disparity_norm" />
<arg name="points_topic" default="points" />
<arg name="depth_topic" default="depth" />
<arg name="imu_topic" default="imu" />
<arg name="temp_topic" default="temp" />
<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="$(arg mynteye)_depth_frame" />
<arg name="imu_frame_id" default="$(arg mynteye)_imu_frame" />
<arg name="temp_frame_id" default="$(arg mynteye)_temp_frame" />
<arg name="gravity" default="9.8" />
<!-- stream toggles -->
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />
<arg name="enable_disparity" default="false" />
<arg name="enable_disparity_norm" default="false" />
<arg name="enable_points" default="false" />
<arg name="enable_depth" default="true" />
<!-- device options, -1 will not set the value -->
<!-- gain range: [0,48] -->
@@ -56,7 +79,7 @@
<!-- <arg name="desired_brightness" default="192" /> -->
<!-- ir_control range: [0,160] -->
<arg name="ir_control" default="-1" />
<arg name="ir_control" default="80" />
<!-- <arg name="ir_control" default="0" /> -->
<!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
@@ -73,17 +96,40 @@
<param name="left_topic" value="$(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="$(arg depth_topic)" />
<param name="imu_topic" value="$(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="imu_frame_id" value="$(arg imu_frame_id)" />
<param name="temp_frame_id" value="$(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="$(arg enable_depth)" />
<!-- device options -->
<param name="gain" value="$(arg gain)" />