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Update RGBD launch files. #172

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merged 1 commit into from
Dec 20, 2016
Merged

Update RGBD launch files. #172

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12 changes: 5 additions & 7 deletions realsense_camera/launch/includes/nodelet_rgbd.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,6 @@
<arg name="depth" default="depth" />
<arg name="rgb" default="rgb" />
<arg name="ir" default="ir" />
<arg name="depth_processing" default="" />
<arg name="rgb_processing" default="" />
<arg name="ir_processing" default="" />
<!-- rgbd_launch -->

<!-- realsense_camera -->
Expand All @@ -25,9 +22,10 @@
<arg name="color_fps" default="" />
<arg name="ir2" default="ir2" />

<arg name="enable_ir" value="$(arg ir_processing)" />
<arg name="enable_ir2" value="$(arg ir_processing)" />
<arg name="enable_depth" value="$(arg depth_processing)" />
<arg name="enable_depth" default="true" />
<arg name="enable_color" default="true" />
<arg name="enable_ir" default="true" />
<arg name="enable_ir2" default="true" />

<!-- "enable_pointcloud" is set to false by default because rgbd_launch uses standard ROS packages
to generate point clouds. -->
Expand All @@ -40,7 +38,7 @@
<param name="usb_port_id" type="str" value="$(arg usb_port_id)" />
<param name="camera_type" type="str" value="$(arg camera_type)" />
<param name="enable_depth" type="bool" value="$(arg enable_depth)" />
<param name="enable_color" type="bool" value="$(arg rgb_processing)" />
<param name="enable_color" type="bool" value="$(arg enable_color)" />
<param name="enable_ir" type="bool" value="$(arg enable_ir)" />
<param name="enable_ir2" type="bool" value="$(arg enable_ir2)" />
<param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
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3 changes: 0 additions & 3 deletions realsense_camera/launch/r200_nodelet_rgbd.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -78,9 +78,6 @@
<arg name="depth" value="$(arg depth)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth_processing" value="$(arg depth_processing)" />
<arg name="rgb_processing" value="$(arg rgb_processing)" />
<arg name="ir_processing" value="$(arg ir_processing)" />
<arg name="publish_tf" value="$(arg publish_tf)" />
<arg name="mode" value="$(arg mode)" />
<arg name="depth_width" value="$(arg depth_width)" />
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3 changes: 0 additions & 3 deletions realsense_camera/launch/sr300_nodelet_rgbd.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -77,9 +77,6 @@
<arg name="depth" value="$(arg depth)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth_processing" value="$(arg depth_processing)" />
<arg name="rgb_processing" value="$(arg rgb_processing)" />
<arg name="ir_processing" value="$(arg ir_processing)" />
<arg name="publish_tf" value="$(arg publish_tf)" />
<arg name="mode" value="$(arg mode)" />
<arg name="depth_width" value="$(arg depth_width)" />
Expand Down