osurc_mars_rover_2017_2018/rover/zed_wrapper/launch/README.md

Launch Files

Launch files provide a convenient way to start up multiple nodes and a master, as well as setting parameters.

Use roslaunch to open ZED launch files.

roslaunch zed_wrapper zed.launch

Start the node with one ZED

Use the zed.launch file to launch a single camera nodelet. It includes one instance of zed_camera.launch.

roslaunch zed_wrapper zed.launch

Start the node with multiple ZED

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.

roslaunch zed_wrapper zed_multi_cam.launch

Start the node with multiple ZED and GPUs

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. A sample zed_multi_gpu.launch file is available to show how to work with different ZED and GPUs.

roslaunch zed_wrapper zed_multi_gpu.launch