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Russ76 wants to merge 5 commits into from
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Add nodelet launch file #196

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b6b6657
Add files via upload
Russ76 Apr 5, 2018
e1e5398
Delete zed_nodelet.launch.xml
Russ76 Apr 5, 2018
69f0c06
Nodelets require special launching
Russ76 Apr 5, 2018
f18456d
Update README.md
Russ76 Apr 5, 2018
af7e7c7
Rename zed_nodelet.launch.xml to zed_nodelet.launch
Russ76 Apr 16, 2018
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Nodelets require special launching
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@Russ76
Russ76 authored Apr 5, 2018
commit 69f0c06dfe3d85f77992d62b5640dc46653c19da
28 changes: 28 additions & 0 deletions launch/zed_nodelet.launch.xml
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<?xml version="1.0"?>
<launch>
<group ns="zed">
<arg name="gpu_id" default="-1" />
<node pkg="nodelet" type="nodelet" args="manager" name="sample_nodelet_manager" output="screen" />
<node pkg="nodelet" type="nodelet" args="load zed_wrapper/ZEDWrapperNodelet sample_nodelet_manager" name="zed_wrapper_nodelet_loader" output="screen">
<param name="camera_model" value="zed" />
<param name="point_cloud_topic" value="depth_registered/points" />
<param name="publish_tf" value="true" />
<!-- Configuration frame camera -->
<param name="odometry_frame" value="map" />
<param name="base_frame" value="zed_center" />
<param name="camera_frame" value="zed_left_camera" />
<param name="depth_frame" value="zed_depth_camera" />
<!-- ZED parameters -->
<param name="resolution" value="2" />
<param name="quality" value="2" />
<param name="sensing_mode" value="0" />
<param name="frame_rate" value="30" />
<param name="odometry_db" value="" />
<param name="openni_depth_mode" value="0" />
<param name="gpu_id" value="$(arg gpu_id)" />
<param name="confidence" value="80" />
<param name="depth_stabilization" value="1" />
</node>
</group>
</launch>