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[jsk_tilt_laser] Add Multisense local option #857

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merged 3 commits into from
Apr 12, 2015
Merged

[jsk_tilt_laser] Add Multisense local option #857

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ca3659a
[jsk_tilt_laser] Add options to run multisense local mode
garaemon Apr 12, 2015
c4c11de
[jsk_tilt_laser] Add local argument to multisense.launch and add mult…
garaemon Apr 12, 2015
df55bc4
Merge remote-tracking branch 'refs/remotes/origin/master' into multis…
garaemon Apr 12, 2015
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31 changes: 22 additions & 9 deletions jsk_tilt_laser/launch/multisense.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,27 @@
<arg name="not_use_sensor_tf_prefix" default="false" />
<arg name="run_driver" default="true" />
<arg name="fixed_frame_id" default="head_root" />

<include file="$(find multisense_bringup)/multisense.launch" if="$(arg run_driver)">
<arg name="ip_address" value="$(arg ip_address)" />
<arg name="namespace" value="$(arg namespace)" />
<arg name="mtu" value="$(arg mtu)" />
<arg name="launch_robot_state_publisher" value="$(arg use_robot_description)" />
</include>

<!-- if 'use_resize' is true, run nodelets to publish resized stereo pointcloud-->
<arg name="use_resize" default="true" />
<!--
If 'local' argument is true, remapping stereo pointcloud
from multisense/foo to multisense_local/foo.
If you use with local true, we recommend to set use_resize false.
-->
<arg name="local" default="false" />
<group>
<!-- Remapping for 'local:=true' -->
<remap from="/multisense/left/image_rect_color" to="/multisense_local/left/image_rect_color" if="$(arg local)"/>
<remap from="/multisense/image_points2_color" to="/multisense_local/image_points2_color" if="$(arg local)"/>
<remap from="/multisense/organized_image_points2" to="/multisense_local/organized_image_points2" if="$(arg local)"/>
<remap from="/multisense/organized_image_points2_color" to="/multisense_local/organized_image_points2_color" if="$(arg local)"/>
<include file="$(find multisense_bringup)/multisense.launch" if="$(arg run_driver)">
<arg name="ip_address" value="$(arg ip_address)" />
<arg name="namespace" value="$(arg namespace)" />
<arg name="mtu" value="$(arg mtu)" />
<arg name="launch_robot_state_publisher" value="$(arg use_robot_description)" />
</include>
</group>
<!--
Overwrite multisense/multisense_driver/tf_prefix parameter.
Because this parameter affects frame_id of images, lasers.
Expand Down Expand Up @@ -120,7 +133,7 @@
<node pkg="dynamic_reconfigure" type="dynparam" args="set /multisense motor_speed 0.5" name="set_multisense_spindle_speed" />
<node pkg="dynamic_reconfigure" type="dynparam" args="set /multisense fps 30.0" name="set_multisense_fps" />

<include file="$(find jsk_pcl_ros)/launch/multi_resolution_organized_pointcloud.launch">
<include file="$(find jsk_pcl_ros)/launch/multi_resolution_organized_pointcloud.launch" if="$(arg use_resize)">
<arg name="NAMESPACE" value="multisense" />
<arg name="INPUT" value="/multisense/organized_image_points2_color" />
</include>
Expand Down
35 changes: 35 additions & 0 deletions jsk_tilt_laser/launch/multisense_remote.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@
<launch>
<arg name="namespace" default="multisense" />
<arg name="use_resize" default="true" />
<!-- Run stereo_image_proc -->

<group ns="$(arg namespace)">
<node pkg="nodelet" type="nodelet" name="stereo_manager"
args="manager" />
<node pkg="nodelet" type="nodelet" name="left_image_rect_color_relay"
args="load jsk_topic_tools/Relay stereo_manager">
<remap from="~input" to="/$(arg namespace)_local/left/image_rect_color" />
<remap from="~output" to="/$(arg namespace)/left/image_rect_color" />
</node>
<node pkg="nodelet" type="nodelet" name="point_cloud_xyz"
args="load depth_image_proc/point_cloud_xyz stereo_manager">
<remap from="camera_info" to="depth/camera_info" />
<remap from="image_rect" to="depth" />
<remap from="points" to="organized_image_points2" />
</node>
<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb"
args="load depth_image_proc/point_cloud_xyzrgb stereo_manager">
<remap from="rgb/camera_info" to="/$(arg namespace)_local/left/camera_info" />
<remap from="rgb/image_rect_color" to="left/image_rect_color" />
<remap from="depth_registered/image_rect" to="depth" />
<remap from="depth_registered/points" to="organized_image_points2_color" />
</node>
</group>
<include file="$(find jsk_pcl_ros)/launch/multi_resolution_organized_pointcloud.launch" if="$(arg use_resize)">
<arg name="NAMESPACE" value="multisense" />
<arg name="INPUT" value="/multisense/organized_image_points2_color" />
<arg name="RUN_MANAGER" value="false" />
<arg name="MANAGER" value="/$(arg namespace)/stereo_manager" />
</include>

</launch>