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main_camera.launch: argument for running image rectification nodelet

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This commit is contained in:
Oleg Kalachev
2023-10-11 00:51:02 +03:00
parent f428dfdb50
commit 7cf14373b0
2 changed files with 9 additions and 0 deletions
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8
clover/launch/main_camera.launch
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@@ -6,6 +6,7 @@
<arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
<arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
<arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
<arg name="rectify" default="false"/> <!-- enable rectification -->
<arg name="simulator" default="false"/>
<node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -49,4 +50,11 @@
<!-- image topic throttled -->
<node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
<!-- rectified image topic -->
<node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
<remap from="image_mono" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="image_rect" to="main_camera/image_rect"/>
</node>
</launch>

1
clover/package.xml
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@@ -42,6 +42,7 @@
<depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
<depend>dynamic_reconfigure</depend>
<depend>image_proc</depend>
<exec_depend>python-pymavlink</exec_depend>
<test_depend>ros_pytest</test_depend>