mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 18:21:15 +00:00
Added rover catkin packages
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27
rover/zed_wrapper/launch/README.md
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27
rover/zed_wrapper/launch/README.md
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# Launch Files
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Launch files provide a convenient way to start up multiple nodes and a master, as well as setting parameters.
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Use **roslaunch** to open ZED launch files.
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```
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roslaunch zed_wrapper zed.launch
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```
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### Start the node with one ZED
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Use the **zed.launch** file to launch a single camera nodelet. It includes one instance of **zed\_camera.launch**.
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```
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roslaunch zed_wrapper zed.launch
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```
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### Start the node with multiple ZED
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To use multiple ZED, launch the **zed\_multi\_cam.launch** file which describes the different cameras. This example includes two instances of **zed\_camera.launch**.
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```
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roslaunch zed_wrapper zed_multi_cam.launch
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```
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### Start the node with multiple ZED and GPUs
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You can configure the wrapper to assign a GPU to a ZED. In that case, it it is not possible to use several instances of **zed\_camera.launch** because different parameters need to be set for each ZED.
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A sample **zed\_multi\_gpu.launch** file is available to show how to work with different ZED and GPUs.
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```
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roslaunch zed_wrapper zed_multi_gpu.launch
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```
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27
rover/zed_wrapper/launch/display.launch
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rover/zed_wrapper/launch/display.launch
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<?xml version="1.0"?>
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<!--
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Copyright (c) 2017, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<!-- Launch ZED camera wrapper -->
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<include file="$(find zed_wrapper)/launch/zed.launch" />
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<!-- Launch rivz display -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_wrapper)/rviz/zed.rviz" output="screen" />
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</launch>
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30
rover/zed_wrapper/launch/zed.launch
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rover/zed_wrapper/launch/zed.launch
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<?xml version="1.0"?>
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<!--
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Copyright (c) 2017, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<!-- Odometry coordinate frame -->
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<arg name="odometry_frame" default="map" />
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<group ns="zed">
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<include file="$(find zed_wrapper)/launch/zed_camera.launch">
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<!-- compliant mode for rviz -->
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<arg name="odometry_frame" value="$(arg odometry_frame)" />
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</include>
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</group>
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</launch>
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89
rover/zed_wrapper/launch/zed_camera.launch
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rover/zed_wrapper/launch/zed_camera.launch
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<?xml version="1.0"?>
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<!--
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Copyright (c) 2017, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<arg name="svo_file" default="" /><!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
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<arg name="zed_id" default="0" />
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<!-- GPU ID-->
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<arg name="gpu_id" default="-1" />
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<!-- Definition coordinate frames -->
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<arg name="publish_tf" default="true" />
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<arg name="odometry_frame" default="odom" />
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<arg name="base_frame" default="zed_center" />
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<arg name="camera_frame" default="zed_left_camera" />
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<arg name="depth_frame" default="zed_depth_camera" />
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<!-- Publish urdf zed -->
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<arg name="publish_urdf" default="true" />
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<node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" output="screen">
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<!-- publish odometry frame -->
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<param name="publish_tf" value="$(arg publish_tf)" />
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<!-- Configuration frame camera -->
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<param name="odometry_frame" value="$(arg odometry_frame)" />
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<param name="base_frame" value="$(arg base_frame)" />
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<param name="camera_frame" value="$(arg camera_frame)" />
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<param name="depth_frame" value="$(arg depth_frame)" />
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<!-- SVO file path -->
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<param name="svo_filepath" value="$(arg svo_file)" />
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<!-- ZED parameters -->
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<param name="zed_id" value="$(arg zed_id)" />
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<param name="resolution" value="3" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="0" />
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<param name="frame_rate" value="60" />
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<param name="odometry_db" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="gpu_id" value="$(arg gpu_id)" />
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<param name="confidence" value="100" />
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<param name="depth_stabilization" value="1" />
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<!-- ROS topic names -->
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<param name="rgb_topic" value="rgb/image_rect_color" />
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<param name="rgb_raw_topic" value="rgb/image_raw_color" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info" />
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<param name="left_topic" value="left/image_rect_color" />
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<param name="left_raw_topic" value="left/image_raw_color" />
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<param name="left_cam_info_topic" value="left/camera_info" />
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<param name="right_topic" value="right/image_rect_color" />
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<param name="right_raw_topic" value="right/image_raw_color" />
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<param name="right_cam_info_topic" value="right/camera_info" />
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<param name="depth_topic" value="depth/depth_registered" />
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<param name="depth_cam_info_topic" value="depth/camera_info" />
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<param name="point_cloud_topic" value="point_cloud/cloud_registered" />
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<param name="odometry_topic" value="odom" />
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</node>
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<!-- ROS URDF description of the ZED -->
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<group if="$(arg publish_urdf)">
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<param name="zed_description" textfile="$(find zed_wrapper)/urdf/zed.urdf" />
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<node name="zed_state_publisher" pkg="robot_state_publisher" type="state_publisher">
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<remap from="robot_description" to="zed_description" />
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</node>
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</group>
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</launch>
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45
rover/zed_wrapper/launch/zed_multi_cam.launch
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45
rover/zed_wrapper/launch/zed_multi_cam.launch
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<?xml version="1.0"?>
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<!--
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Copyright (c) 2017, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<!-- Odometry coordinate frame -->
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<arg name="odometry_frame" default="map" />
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<arg name="zed_id1" default="0" />
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<arg name="zed_id2" default="1" />
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<!-- First ZED camera -->
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<group ns="zed1">
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<include file="$(find zed_wrapper)/launch/zed_camera.launch">
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<arg name="zed_id" value="$(arg zed_id1)" />
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<!-- compliant mode for rviz -->
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<arg name="odometry_frame" value="$(arg odometry_frame)" />
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</include>
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</group>
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<!-- Second ZED camera -->
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<group ns="zed2">
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<include file="$(find zed_wrapper)/launch/zed_camera.launch">
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<arg name="zed_id" value="$(arg zed_id2)" />
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<!-- compliant mode for rviz -->
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<arg name="odometry_frame" value="$(arg odometry_frame)" />
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</include>
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</group>
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</launch>
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49
rover/zed_wrapper/launch/zed_multi_gpu.launch
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49
rover/zed_wrapper/launch/zed_multi_gpu.launch
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<?xml version="1.0"?>
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<!--
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Copyright (c) 2017, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<!-- Odometry coordinate frame -->
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<arg name="odometry_frame" default="map" />
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<arg name="zed_id1" default="0" />
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<arg name="zed_id2" default="1" />
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<!-- First ZED camera on GPU 0 -->
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<group ns="zed_GPU0">
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<include file="$(find zed_wrapper)/launch/zed_camera.launch">
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<arg name="zed_id" value="$(arg zed_id1)" />
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<!-- Set GPU -->
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<arg name="gpu_id" value="0" />
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<!-- compliant mode for rviz -->
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<arg name="odometry_frame" value="$(arg odometry_frame)" />
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</include>
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</group>
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<!-- Second ZED camera on GPU 1 -->
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<group ns="zed_GPU1">
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<include file="$(find zed_wrapper)/launch/zed_camera.launch">
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<arg name="zed_id" value="$(arg zed_id2)" />
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<!-- Set GPU -->
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<arg name="gpu_id" value="1" />
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<!-- compliant mode for rviz -->
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<arg name="odometry_frame" value="$(arg odometry_frame)" />
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</include>
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</group>
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</launch>
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