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realsense_d415.launch.xml
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realsense_d415.launch.xml
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<launch>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="$(arg camera)/depth/color/points"/>
<remap from="scan" to="scan"/>
<rosparam>
target_frame: camera_link # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.01
min_height: 0.0
max_height: 0.2
angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.0087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.25
range_max: 4.0
use_inf: true
inf_epsilon: 1.0
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 3
</rosparam>
</node>
<!-- Below Just to satisfy the 3dsensor.launch file -->
<arg name="depth_registration" default=""/>
<arg name="num_worker_threads" default="$" />
<!-- Processing Modules -->
<arg name="rgb_processing" default=""/>
<arg name="ir_processing" default=""/>
<arg name="depth_processing" default=""/>
<arg name="depth_registered_processing" default=""/>
<arg name="disparity_processing" default=""/>
<arg name="disparity_registered_processing" default=""/>
<!-- Above Just to satisfy the 3dsensor.launch file -->
<arg name="serial_no" default=""/>
<arg name="usb_port_id" default=""/>
<arg name="device_type" default=""/>
<arg name="json_file_path" default=""/>
<arg name="camera" default="camera"/>
<arg name="tf_prefix" default="$(arg camera)"/>
<arg name="external_manager" default="false"/>
<arg name="manager" default="realsense2_camera_manager"/>
<arg name="fisheye_width" default="640"/>
<arg name="fisheye_height" default="480"/>
<arg name="enable_fisheye" default="false"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="enable_depth" default="true"/>
<arg name="infra_width" default="640"/>
<arg name="infra_height" default="480"/>
<arg name="enable_infra1" default="false"/>
<arg name="enable_infra2" default="false"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="enable_color" default="true"/>
<arg name="fisheye_fps" default="30"/>
<arg name="depth_fps" default="30"/>
<arg name="infra_fps" default="30"/>
<arg name="color_fps" default="30"/>
<arg name="gyro_fps" default="400"/>
<arg name="accel_fps" default="250"/>
<arg name="enable_gyro" default="false"/>
<arg name="enable_accel" default="false"/>
<arg name="enable_pointcloud" default="false"/>
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
<arg name="pointcloud_texture_index" default="0"/>
<arg name="enable_sync" default="false"/>
<arg name="align_depth" default="false"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="0"/>
<arg name="filters" default="pointcloud"/>
<arg name="clip_distance" default="-2"/>
<arg name="linear_accel_cov" default="0.01"/>
<arg name="initial_reset" default="false"/>
<arg name="unite_imu_method" default=""/>
<arg name="topic_odom_in" default="odom_in"/>
<arg name="calib_odom_file" default=""/>
<arg name="publish_odom_tf" default="true"/>
<arg name="allow_no_texture_points" default="false"/>
<group ns="$(arg camera)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<remap from="$(arg camera)/$(arg depth)/image_rect_raw" to="$(arg camera)/$(arg depth)/image_raw"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="external_manager" value="$(arg external_manager)"/>
<arg name="manager" value="$(arg manager)"/>
<arg name="serial_no" value="$(arg serial_no)"/>
<arg name="usb_port_id" value="$(arg usb_port_id)"/>
<arg name="device_type" value="$(arg device_type)"/>
<arg name="json_file_path" value="$(arg json_file_path)"/>
<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
<arg name="enable_sync" value="$(arg enable_sync)"/>
<arg name="align_depth" value="$(arg align_depth)"/>
<arg name="fisheye_width" value="$(arg fisheye_width)"/>
<arg name="fisheye_height" value="$(arg fisheye_height)"/>
<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>
<arg name="depth_width" value="$(arg depth_width)"/>
<arg name="depth_height" value="$(arg depth_height)"/>
<arg name="enable_depth" value="$(arg enable_depth)"/>
<arg name="color_width" value="$(arg color_width)"/>
<arg name="color_height" value="$(arg color_height)"/>
<arg name="enable_color" value="$(arg enable_color)"/>
<arg name="infra_width" value="$(arg infra_width)"/>
<arg name="infra_height" value="$(arg infra_height)"/>
<arg name="enable_infra1" value="$(arg enable_infra1)"/>
<arg name="enable_infra2" value="$(arg enable_infra2)"/>
<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
<arg name="depth_fps" value="$(arg depth_fps)"/>
<arg name="infra_fps" value="$(arg infra_fps)"/>
<arg name="color_fps" value="$(arg color_fps)"/>
<arg name="gyro_fps" value="$(arg gyro_fps)"/>
<arg name="accel_fps" value="$(arg accel_fps)"/>
<arg name="enable_gyro" value="$(arg enable_gyro)"/>
<arg name="enable_accel" value="$(arg enable_accel)"/>
<arg name="publish_tf" value="true"/>
<arg name="tf_publish_rate" value="$(arg tf_publish_rate)"/>
<arg name="filters" value="$(arg filters)"/>
<arg name="clip_distance" value="$(arg clip_distance)"/>
<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
<arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
</include>
</group>
</launch>