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Added argument for machine to launch-file kinect2_bridge. #48

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Merged
kohrt merged 1 commit into from
Feb 5, 2015
Merged

Added argument for machine to launch-file kinect2_bridge. #48

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14 changes: 11 additions & 3 deletions kinect2_bridge/launch/kinect2_bridge.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,11 @@
<arg name="publish_tf" default="false" />
<arg name="base_name_tf" default="$(arg base_name)" />

<node name="$(arg base_name)" pkg="kinect2_bridge" type="kinect2_bridge" respawn="true" output="screen">
<machine name="localhost" address="localhost" />
<arg name="machine" default="localhost" />

<node name="$(arg base_name)" pkg="kinect2_bridge" type="kinect2_bridge"
machine="$(arg machine)" respawn="true" output="screen">
<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="double" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
Expand All @@ -28,7 +32,9 @@
</node>

<!-- low resolution point cloud (960 x 540) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_lowres" args="standalone depth_image_proc/point_cloud_xyzrgb" respawn="true">
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_lowres"
machine="$(arg machine)" args="standalone depth_image_proc/point_cloud_xyzrgb"
respawn="true">
<remap from="rgb/camera_info" to="/$(arg base_name)/rgb_lowres/camera_info" />
<remap from="rgb/image_rect_color" to="/$(arg base_name)/rgb_lowres/image" />
<remap from="depth_registered/image_rect" to="/$(arg base_name)/depth_lowres/image" />
Expand All @@ -37,7 +43,9 @@
</node>

<!-- high resolution point cloud (1920 x 1080) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_highres" args="standalone depth_image_proc/point_cloud_xyzrgb" respawn="true">
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_highres"
machine="$(arg machine)" args="standalone depth_image_proc/point_cloud_xyzrgb"
respawn="true">
<remap from="rgb/camera_info" to="/$(arg base_name)/rgb_rect/camera_info" />
<remap from="rgb/image_rect_color" to="/$(arg base_name)/rgb_rect/image" />
<remap from="depth_registered/image_rect" to="/$(arg base_name)/depth_highres/image" />
Expand Down