Add nextage_calibration/launch/xtion_kinect.launch

130s · Mar 16, 2017 · 6834743 · 6834743
1 parent 7a6d8d9
commit 6834743
Showing 1 changed file with 26 additions and 0 deletions.
diff --git a/nextage_calibration/launch/xtion_kinect.launch b/nextage_calibration/launch/xtion_kinect.launch
@@ -0,0 +1,26 @@
+<launch>
+
+  <arg name="publish_tf" default="true" />
+  <arg name="launch_openni2" default="true" />
+
+  <arg name="TF_COORD_XYZ" default="0.062367406594775215 0.07536259323525744 0.12330820494245931" />
+  <arg name="TF_COORD_RPY" default="-0.03346088258363324 0.1383150116022393 -0.014468436806528857" />
+  <arg name="TF_COORD" default="$(arg TF_COORD_XYZ) $(arg TF_COORD_RPY)" />
+
+  <include file="$(find openni2_launch)/launch/openni2.launch"
+           if="$(arg launch_openni2)">
+    <arg name="depth_registration" value="true"/>
+    <arg name="publish_tf" value="$(arg publish_tf)" />
+    <arg name="rgb_camera_info_url" value="file://${ROS_HOME}/camera_info/rgb_PS1080_PrimeSense.yaml" />
+  </include>
+  <include file="$(find freenect_launch)/launch/freenect.launch"
+           unless="$(arg launch_openni2)">
+    <arg name="depth_registration" value="true"/>
+    <arg name="publish_tf" value="$(arg publish_tf)" />
+  </include>
+
+  <node pkg="tf" type="static_transform_publisher" name="head_to_kinect_frame"
+        args="$(arg TF_COORD) /HEAD_JOINT1_Link /camera_link 100"
+        if="$(arg publish_tf)" />  
+
+</launch>