97 lines
5.1 KiB
XML
97 lines
5.1 KiB
XML
<launch>
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<!-- <arg name="DEVICE" default="/dev/video0"/> -->
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<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
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<arg name="width" default="800" /> <!-- Image Width -->
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<arg name="height" default="600" /> <!-- Image Height -->
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<arg name="fps" default="20" />
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<arg name="respawn" default="false" />
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<arg name="left" default="left" />
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<arg name="right" default="right" />
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<arg name="approximate_sync" default="true" /> <!-- Desired framerate -->
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<arg if="$(arg respawn)" name="bond" value="" />
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<arg unless="$(arg respawn)" name="bond" value="--no-bond" />
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<!-- Make arguments available to parameter server -->
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<param name="image_width" type="int" value="$(arg width)" />
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<param name="image_height" type="int" value="$(arg height)" />
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<param name="target_fps" type="int" value="$(arg fps)" />
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<group ns="stereo">
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="GSCamNodeletLeft" args="load gscam/GSCamNodelet standalone_nodelet respawn:=true" output="screen">
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<param name="camera_name" value="left"/>
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<param name="camera_info_url" value="package://jetson_csi_cam/left_800x600.yaml"/>
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<param name="frame_id" value="left_link"/>
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<param name="sync_sink" value="true"/>
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<param name="left/image_width" type="int" value="$(arg width)" />
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<param name="left/image_height" type="int" value="$(arg height)" />
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<param name="left/target_fps" type="int" value="$(arg fps)" />
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<remap from="camera/image_raw" to="left/image_raw" />
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<remap from="camera/camera_info" to="left/camera_info" />
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<!--<remap from="/set_camera_info" to="left/set_camera_info" />-->
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</node>
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<node pkg="tf" type="static_transform_publisher" name="fcu_to_Left_link" args="0.08505 0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu left_link 10" />
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<node pkg="nodelet" type="nodelet" name="GSCamNodeletRight" args="standalone gscam/GSCamNodelet" output="screen">
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<param name="camera_name" value="right"/>
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<param name="camera_info_url" value="package://jetson_csi_cam/right_800x600.yaml"/>
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<param name="frame_id" value="right_link"/>
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<param name="sync_sink" value="true"/>
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<param name="right/image_width" type="int" value="$(arg width)" />
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<param name="right/image_height" type="int" value="$(arg height)" />
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<param name="right/target_fps" type="int" value="$(arg fps)" />
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<remap from="camera/image_raw" to="right/image_raw" />
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<remap from="camera/camera_info" to="right/camera_info" />
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<!--<remap from="/set_camera_info" to="right/set_camera_info" />-->
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</node>
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<node pkg="tf" type="static_transform_publisher" name="fcu_to_Right_link" args="0.08505 -0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu right_link 10"/>
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<!--<node pkg="nodelet" type="nodelet" name="ImageViewNodeletLeft"
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args="load image_view/image image:=/stereo/right/image_raw standalone_nodelet"
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respawn="false" output="screen" >
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</node>
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<node pkg="nodelet" type="nodelet" name="ImageViewNodeletRight"
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args="standalone image_view/image image:=/stereo/left/image_raw"
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respawn="false" output="screen" >
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</node>
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<include file="$(find image_proc)/launch/image_proc.launch"
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ns="left">
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<arg name="manager" value="standalone_nodelet" />
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<arg name="respawn" value="false" />
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</include>
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<! Basic processing for right camera
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<include file="$(find image_proc)/launch/image_proc.launch"
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ns="right">
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<arg name="manager" value="standalone_nodelet" />
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<arg name="respawn" value="false" />
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</include>
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<node pkg="nodelet" type="nodelet" name="disparity"
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args="load gpu_stereo_image_proc/libsgm_disparity standalone_nodelet"
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respawn="false" output="screen">
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<param name="approximate_sync" value="true" />
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</node>-->
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<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet --no-bond" output="screen">
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<!-- Read the stream setup file -->
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<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
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</node>
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<!--<include file="$(find gpu_stereo_image_proc)/launch/libsgm_stereo_image_proc.launch">
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<arg name="manager" value="/stereo/standalone_nodelet"/>
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</include>-->
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</group>
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</launch>
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