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[jsk_fetch_startup] Make realsense nodes respawn (#82)
* [jsk_fetch_startup] copy nodelet.launch.xml from realsense2_camera * [jsk_fetch_startup] make realsense nodelet be launched as a standalone node * [jsk_fetch_startup] change required arg of realsense_nodelet.launch.xml to respawn arg * [jsk_fetch_startup] update fetch_reansense_bringup.launch so that it uses realsense_nodelet.launch.xml in jsk_fetch_startup instead of nodelet.launch.xml in realsense2_camera * [jsk_fetch_startup] fix arguments for realsense bringup launch
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jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml
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| Original file line number | Diff line number | Diff line change |
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| <launch> | ||
| <!-- | ||
| This launch file is copied from realsense2_camera in realsense_ros https://github.com/IntelRealSense/realsense-ros and then modified | ||
| And it is originally distributed under Apache-2.0 License | ||
| --> | ||
| <arg name="serial_no" default=""/> | ||
| <arg name="usb_port_id" default=""/> | ||
| <arg name="device_type" default=""/> | ||
| <arg name="tf_prefix" default=""/> | ||
| <arg name="json_file_path" default=""/> | ||
| <arg name="rosbag_filename" default=""/> | ||
| <arg name="respawn" default="false"/> | ||
| <arg name="output" default="screen"/> <!-- [ screen | log ]--> | ||
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| <arg name="fisheye_width" default="0"/> | ||
| <arg name="fisheye_height" default="0"/> | ||
| <arg name="enable_fisheye" default="false"/> | ||
| <arg name="enable_fisheye1" default="false"/> | ||
| <arg name="enable_fisheye2" default="false"/> | ||
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| <arg name="depth_width" default="640"/> | ||
| <arg name="depth_height" default="480"/> | ||
| <arg name="enable_depth" default="true"/> | ||
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| <arg name="confidence_width" default="640"/> | ||
| <arg name="confidence_height" default="480"/> | ||
| <arg name="enable_confidence" default="true"/> | ||
| <arg name="confidence_fps" default="30"/> | ||
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| <arg name="infra_width" default="640"/> | ||
| <arg name="infra_height" default="480"/> | ||
| <arg name="enable_infra" default="false"/> | ||
| <arg name="enable_infra1" default="false"/> | ||
| <arg name="enable_infra2" default="false"/> | ||
| <arg name="infra_rgb" default="false"/> | ||
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| <arg name="color_width" default="640"/> | ||
| <arg name="color_height" default="480"/> | ||
| <arg name="enable_color" default="true"/> | ||
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| <arg name="fisheye_fps" default="30"/> | ||
| <arg name="depth_fps" default="30"/> | ||
| <arg name="infra_fps" default="30"/> | ||
| <arg name="color_fps" default="30"/> | ||
| <arg name="gyro_fps" default="0"/> | ||
| <arg name="accel_fps" default="0"/> | ||
| <arg name="enable_gyro" default="false"/> | ||
| <arg name="enable_accel" default="false"/> | ||
| <arg name="enable_pose" default="false"/> | ||
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| <arg name="enable_pointcloud" default="false"/> | ||
| <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/> <!-- use RS2_STREAM_ANY to avoid using texture --> | ||
| <arg name="pointcloud_texture_index" default="0"/> | ||
| <arg name="allow_no_texture_points" default="false"/> | ||
| <arg name="ordered_pc" default="false"/> | ||
|
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| <arg name="enable_sync" default="false"/> | ||
| <arg name="align_depth" default="false"/> | ||
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| <arg name="base_frame_id" default="$(arg tf_prefix)_link"/> | ||
| <arg name="depth_frame_id" default="$(arg tf_prefix)_depth_frame"/> | ||
| <arg name="infra1_frame_id" default="$(arg tf_prefix)_infra1_frame"/> | ||
| <arg name="infra2_frame_id" default="$(arg tf_prefix)_infra2_frame"/> | ||
| <arg name="color_frame_id" default="$(arg tf_prefix)_color_frame"/> | ||
| <arg name="fisheye_frame_id" default="$(arg tf_prefix)_fisheye_frame"/> | ||
| <arg name="fisheye1_frame_id" default="$(arg tf_prefix)_fisheye1_frame"/> | ||
| <arg name="fisheye2_frame_id" default="$(arg tf_prefix)_fisheye2_frame"/> | ||
| <arg name="accel_frame_id" default="$(arg tf_prefix)_accel_frame"/> | ||
| <arg name="gyro_frame_id" default="$(arg tf_prefix)_gyro_frame"/> | ||
| <arg name="pose_frame_id" default="$(arg tf_prefix)_pose_frame"/> | ||
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| <arg name="depth_optical_frame_id" default="$(arg tf_prefix)_depth_optical_frame"/> | ||
| <arg name="infra1_optical_frame_id" default="$(arg tf_prefix)_infra1_optical_frame"/> | ||
| <arg name="infra2_optical_frame_id" default="$(arg tf_prefix)_infra2_optical_frame"/> | ||
| <arg name="color_optical_frame_id" default="$(arg tf_prefix)_color_optical_frame"/> | ||
| <arg name="fisheye_optical_frame_id" default="$(arg tf_prefix)_fisheye_optical_frame"/> | ||
| <arg name="fisheye1_optical_frame_id" default="$(arg tf_prefix)_fisheye1_optical_frame"/> | ||
| <arg name="fisheye2_optical_frame_id" default="$(arg tf_prefix)_fisheye2_optical_frame"/> | ||
| <arg name="accel_optical_frame_id" default="$(arg tf_prefix)_accel_optical_frame"/> | ||
| <arg name="gyro_optical_frame_id" default="$(arg tf_prefix)_gyro_optical_frame"/> | ||
| <arg name="imu_optical_frame_id" default="$(arg tf_prefix)_imu_optical_frame"/> | ||
| <arg name="pose_optical_frame_id" default="$(arg tf_prefix)_pose_optical_frame"/> | ||
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| <arg name="aligned_depth_to_color_frame_id" default="$(arg tf_prefix)_aligned_depth_to_color_frame"/> | ||
| <arg name="aligned_depth_to_infra1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra1_frame"/> | ||
| <arg name="aligned_depth_to_infra2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra2_frame"/> | ||
| <arg name="aligned_depth_to_fisheye_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye_frame"/> | ||
| <arg name="aligned_depth_to_fisheye1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye1_frame"/> | ||
| <arg name="aligned_depth_to_fisheye2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye2_frame"/> | ||
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| <arg name="publish_tf" default="true"/> | ||
| <arg name="tf_publish_rate" default="0"/> <!-- 0 - static transform --> | ||
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| <arg name="odom_frame_id" default="$(arg tf_prefix)_odom_frame"/> | ||
| <arg name="topic_odom_in" default="$(arg tf_prefix)/odom_in"/> | ||
| <arg name="calib_odom_file" default=""/> | ||
| <arg name="publish_odom_tf" default="true"/> | ||
| <arg name="filters" default=""/> | ||
| <arg name="clip_distance" default="-1"/> | ||
| <arg name="linear_accel_cov" default="0.01"/> | ||
| <arg name="initial_reset" default="false"/> | ||
| <arg name="unite_imu_method" default="none"/> <!-- Options are: [none, copy, linear_interpolation] --> | ||
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| <node | ||
| pkg="nodelet" | ||
| type="nodelet" | ||
| name="$(arg tf_prefix)_realsense2_camera" | ||
| args="standalone realsense2_camera/RealSenseNodeFactory" | ||
| respawn="$(arg respawn)"> | ||
| <param name="serial_no" type="str" value="$(arg serial_no)"/> | ||
| <param name="usb_port_id" type="str" value="$(arg usb_port_id)"/> | ||
| <param name="device_type" type="str" value="$(arg device_type)"/> | ||
| <param name="json_file_path" type="str" value="$(arg json_file_path)"/> | ||
| <param name="rosbag_filename" type="str" value="$(arg rosbag_filename)"/> | ||
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| <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)"/> | ||
| <param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/> | ||
| <param name="pointcloud_texture_index" type="int" value="$(arg pointcloud_texture_index)"/> | ||
| <param name="allow_no_texture_points" type="bool" value="$(arg allow_no_texture_points)"/> | ||
| <param name="ordered_pc" type="bool" value="$(arg ordered_pc)"/> | ||
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| <param name="enable_sync" type="bool" value="$(arg enable_sync)"/> | ||
| <param name="align_depth" type="bool" value="$(arg align_depth)"/> | ||
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| <param name="fisheye_width" type="int" value="$(arg fisheye_width)"/> | ||
| <param name="fisheye_height" type="int" value="$(arg fisheye_height)"/> | ||
| <param name="enable_fisheye" type="bool" value="$(arg enable_fisheye)"/> | ||
| <param name="enable_fisheye1" type="bool" value="$(arg enable_fisheye1)"/> | ||
| <param name="enable_fisheye2" type="bool" value="$(arg enable_fisheye2)"/> | ||
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| <param name="depth_width" type="int" value="$(arg depth_width)"/> | ||
| <param name="depth_height" type="int" value="$(arg depth_height)"/> | ||
| <param name="enable_depth" type="bool" value="$(arg enable_depth)"/> | ||
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| <param name="confidence_width" type="int" value="$(arg confidence_width)"/> | ||
| <param name="confidence_height" type="int" value="$(arg confidence_height)"/> | ||
| <param name="enable_confidence" type="bool" value="$(arg enable_confidence)"/> | ||
| <param name="confidence_fps" type="int" value="$(arg confidence_fps)"/> | ||
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| <param name="color_width" type="int" value="$(arg color_width)"/> | ||
| <param name="color_height" type="int" value="$(arg color_height)"/> | ||
| <param name="enable_color" type="bool" value="$(arg enable_color)"/> | ||
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| <param name="infra_width" type="int" value="$(arg infra_width)"/> | ||
| <param name="infra_height" type="int" value="$(arg infra_height)"/> | ||
| <param name="enable_infra" type="bool" value="$(arg enable_infra)"/> | ||
| <param name="enable_infra1" type="bool" value="$(arg enable_infra1)"/> | ||
| <param name="enable_infra2" type="bool" value="$(arg enable_infra2)"/> | ||
| <param name="infra_rgb" type="bool" value="$(arg infra_rgb)"/> | ||
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| <param name="fisheye_fps" type="int" value="$(arg fisheye_fps)"/> | ||
| <param name="depth_fps" type="int" value="$(arg depth_fps)"/> | ||
| <param name="infra_fps" type="int" value="$(arg infra_fps)"/> | ||
| <param name="color_fps" type="int" value="$(arg color_fps)"/> | ||
| <param name="gyro_fps" type="int" value="$(arg gyro_fps)"/> | ||
| <param name="accel_fps" type="int" value="$(arg accel_fps)"/> | ||
| <param name="enable_gyro" type="bool" value="$(arg enable_gyro)"/> | ||
| <param name="enable_accel" type="bool" value="$(arg enable_accel)"/> | ||
| <param name="enable_pose" type="bool" value="$(arg enable_pose)"/> | ||
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| <param name="base_frame_id" type="str" value="$(arg base_frame_id)"/> | ||
| <param name="depth_frame_id" type="str" value="$(arg depth_frame_id)"/> | ||
| <param name="infra1_frame_id" type="str" value="$(arg infra1_frame_id)"/> | ||
| <param name="infra2_frame_id" type="str" value="$(arg infra2_frame_id)"/> | ||
| <param name="color_frame_id" type="str" value="$(arg color_frame_id)"/> | ||
| <param name="fisheye_frame_id" type="str" value="$(arg fisheye_frame_id)"/> | ||
| <param name="fisheye1_frame_id" type="str" value="$(arg fisheye1_frame_id)"/> | ||
| <param name="fisheye2_frame_id" type="str" value="$(arg fisheye2_frame_id)"/> | ||
| <param name="accel_frame_id" type="str" value="$(arg accel_frame_id)"/> | ||
| <param name="gyro_frame_id" type="str" value="$(arg gyro_frame_id)"/> | ||
| <param name="pose_frame_id" type="str" value="$(arg pose_frame_id)"/> | ||
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| <param name="depth_optical_frame_id" type="str" value="$(arg depth_optical_frame_id)"/> | ||
| <param name="infra1_optical_frame_id" type="str" value="$(arg infra1_optical_frame_id)"/> | ||
| <param name="infra2_optical_frame_id" type="str" value="$(arg infra2_optical_frame_id)"/> | ||
| <param name="color_optical_frame_id" type="str" value="$(arg color_optical_frame_id)"/> | ||
| <param name="fisheye_optical_frame_id" type="str" value="$(arg fisheye_optical_frame_id)"/> | ||
| <param name="fisheye1_optical_frame_id" type="str" value="$(arg fisheye1_optical_frame_id)"/> | ||
| <param name="fisheye2_optical_frame_id" type="str" value="$(arg fisheye2_optical_frame_id)"/> | ||
| <param name="accel_optical_frame_id" type="str" value="$(arg accel_optical_frame_id)"/> | ||
| <param name="gyro_optical_frame_id" type="str" value="$(arg gyro_optical_frame_id)"/> | ||
| <param name="imu_optical_frame_id" type="str" value="$(arg imu_optical_frame_id)"/> | ||
| <param name="pose_optical_frame_id" type="str" value="$(arg pose_optical_frame_id)"/> | ||
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| <param name="aligned_depth_to_color_frame_id" type="str" value="$(arg aligned_depth_to_color_frame_id)"/> | ||
| <param name="aligned_depth_to_infra1_frame_id" type="str" value="$(arg aligned_depth_to_infra1_frame_id)"/> | ||
| <param name="aligned_depth_to_infra2_frame_id" type="str" value="$(arg aligned_depth_to_infra2_frame_id)"/> | ||
| <param name="aligned_depth_to_fisheye_frame_id" type="str" value="$(arg aligned_depth_to_fisheye_frame_id)"/> | ||
| <param name="aligned_depth_to_fisheye1_frame_id" type="str" value="$(arg aligned_depth_to_fisheye1_frame_id)"/> | ||
| <param name="aligned_depth_to_fisheye2_frame_id" type="str" value="$(arg aligned_depth_to_fisheye2_frame_id)"/> | ||
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| <param name="publish_tf" type="bool" value="$(arg publish_tf)"/> | ||
| <param name="tf_publish_rate" type="double" value="$(arg tf_publish_rate)"/> | ||
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| <param name="odom_frame_id" type="str" value="$(arg odom_frame_id)"/> | ||
| <param name="topic_odom_in" type="str" value="$(arg topic_odom_in)"/> | ||
| <param name="calib_odom_file" type="str" value="$(arg calib_odom_file)"/> | ||
| <param name="publish_odom_tf" type="bool" value="$(arg publish_odom_tf)"/> | ||
| <param name="filters" type="str" value="$(arg filters)"/> | ||
| <param name="clip_distance" type="double" value="$(arg clip_distance)"/> | ||
| <param name="linear_accel_cov" type="double" value="$(arg linear_accel_cov)"/> | ||
| <param name="initial_reset" type="bool" value="$(arg initial_reset)"/> | ||
| <param name="unite_imu_method" type="str" value="$(arg unite_imu_method)"/> | ||
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| </node> | ||
| </launch> |
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