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[jsk_topic_tools] Rewrite multisense_remote.launch with standalone_co…
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@garaemon
garaemon authored and leus committed Jul 22, 2015
1 parent 3e26ffd commit d209215
Showing 1 changed file with 49 additions and 36 deletions.
85 changes: 49 additions & 36 deletions jsk_tilt_laser/launch/multisense_remote.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,51 +7,64 @@
<arg name="fixed_frame_id" default="head_root" />
<arg name="not_use_sensor_tf_prefix" default="false" />
<!-- Run stereo_image_proc -->

<group ns="$(arg namespace)">
<node pkg="nodelet" type="nodelet" name="stereo_manager" args="manager" />
<node pkg="jsk_topic_tools" type="standalone_complexed_nodelet" name="stereo_manager"
output="screen">
</node>

<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="MANAGER" value="stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense/depth" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
<arg name="NAME_PREFIX" value="" />
<arg name="NO_SUB_NAMESPACE" value="true" />
<arg name="PARAM_COUNT" value="0" />
</include>

<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/resize_1_2/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/resize_1_2/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense_local/resize_1_2/depth" />
<arg name="RELAY_DEPTH" value="true" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
<arg name="NAME_PREFIX" value="resize_1_2/" />
<arg name="SUB_NAMESPACE" value="resize_1_2" />
<arg name="PARAM_COUNT" value="1" />
</include>
<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/resize_1_4/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/resize_1_4/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense_local/resize_1_4/depth" />
<arg name="RELAY_DEPTH" value="true" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
<arg name="NAME_PREFIX" value="resize_1_4/" />
<arg name="SUB_NAMESPACE" value="resize_1_4" />
<arg name="PARAM_COUNT" value="2" />
</include>
<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/resize_1_8/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/resize_1_8/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense_local/resize_1_8/depth" />
<arg name="RELAY_DEPTH" value="true" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
<arg name="SUB_NAMESPACE" value="resize_1_8" />
<arg name="NAME_PREFIX" value="resize_1_8/" />
<arg name="PARAM_COUNT" value="3" />
</include>
<group ns="resize_1_2">
<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/resize_1_2/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/resize_1_2/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense_local/resize_1_2/depth" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
</include>
</group>
<group ns="resize_1_4">
<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/resize_1_4/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/resize_1_4/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense_local/resize_1_4/depth" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
</include>
</group>
<group ns="resize_1_8">
<include file="$(find jsk_pcl_ros)/launch/stereo_reconstruction.launch">
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
<arg name="INPUT_LEFT_IMAGE" value="/multisense_local/resize_1_8/left/image_rect_color" />
<arg name="INPUT_LEFT_CAMERA_INFO" value="/multisense_local/resize_1_8/left/camera_info" />
<arg name="INPUT_DEPTH" value="/multisense_local/resize_1_8/depth" />
<arg name="USE_COMPRESS" value="$(arg use_compress)" />
<arg name="COMPRESSED_TYPE" value="compressed" unless="$(arg use_theora)"/>
<arg name="COMPRESSED_TYPE" value="theora" if="$(arg use_theora)"/>
</include>
</group>
</group>

<include file="$(find jsk_tilt_laser)/launch/multisense_laser_pipeline.launch" if="$(arg run_laser_pipeline)">
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