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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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6 changes: 6 additions & 0 deletions launch/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -25,3 +25,9 @@ A sample **zed\_multi\_gpu.launch** file is available to show how to work with d
```
roslaunch zed_wrapper zed_multi_gpu.launch
```
### Start the nodelet
First compile the sample nodelet manager from github/cryborg21/sample_nodelet
The Zed nodelet allows publishing PointCloud2 data (and other image streams) from the Zed camera to your ROS nodes faster than the larger Zed node.
```
roslaunch zed_wrapper zed_nodelet.launch
```
28 changes: 28 additions & 0 deletions launch/zed_nodelet.launch
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@@ -0,0 +1,28 @@
<?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>