perception3d/multipleKinects.launch at master · jpmerc/perception3d · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
<launch>

 <!-- Parameters possible to change-->
    <arg name="camera1_id" default="1@0" /><!-- here you can change 1@0 by the serial number -->
    <arg name="camera2_id" default="2@0" /><!-- here you can change 2@0 by the serial number -->
    <arg name="camera3_id" default="3@0" /><!-- here you can change 3@0 by the serial number -->
    <arg name="depth_registration" default="true" />

  <!-- Default parameters-->
    <arg name="camera1_name" default="kinect1" />
    <arg name="camera2_name" default="kinect2" />
    <arg name="camera3_name" default="kinect3" />

 <!-- Putting the time back to real time-->
    <rosparam>
       /use_sim_time : false
    </rosparam>

<!-- Openning Rviz for visualization
<node name="rviz" pkg="rviz" type="rviz"/>-->

  <!-- Launching first kinect-->
    <include file="$(find openni_launch)/launch/openni.launch">
        <arg name="device_id" value="$(arg camera1_id)" />
        <arg name="camera" value="$(arg camera1_name)" />
        <arg name="depth_registration" value="$(arg depth_registration)" />
     </include>

 <!-- Launching second kinect -->
    <include file="$(find openni_launch)/launch/openni.launch">
        <arg name="device_id" value="$(arg camera2_id)" />
        <arg name="camera" value="$(arg camera2_name)" />
        <arg name="depth_registration" value="$(arg depth_registration)" />
     </include>

<!-- Launching third kinect
    <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="device_id" value="$(arg camera3_id)" />
    <arg name="camera" value="$(arg camera3_name)" />
    <arg name="depth_registration" value="$(arg depth_registration)" />
    </include>
-->

</launch>