aruco_perception/launch/table_setup.launch.yaml at main · secorolab/aruco_perception · GitHub

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launch:
  - arg:
      name: config_path
      default: "$(find-pkg-share aruco_perception)/config/table_setup.yml"
      description: "Path to the table setup configuration"

  - arg:
      name: max_tf_age
      default: "0.5"
      description: "Freshness window for camera poses, marker poses, and sensor priority"

  - arg:
      name: publish_markers
      default: "false"
      description: "Publish RViz arrows on /recognized_object_markers"

  - arg:
      name: robot_table_camera_serial
      default: "_336222301119"
      description: "Serial number of the robot-table camera"

  - arg:
      name: rk_table_camera_serial
      default: "_338522300210"
      description: "Serial number of the RK-table camera"

  - include:
      file: "$(find-pkg-share realsense2_camera)/launch/rs_launch.py"
      arg:
        - name: serial_no
          value: "$(var robot_table_camera_serial)"
        - name: camera_namespace
          value: "cameras"
        - name: camera_name
          value: "robot_table_camera"
        - name: enable_depth
          value: "false"

  - include:
      file: "$(find-pkg-share realsense2_camera)/launch/rs_launch.py"
      arg:
        - name: serial_no
          value: "$(var rk_table_camera_serial)"
        - name: camera_namespace
          value: "cameras"
        - name: camera_name
          value: "rk_table_camera"
        - name: enable_depth
          value: "false"

  - node:
      pkg: aruco_perception
      exec: world_pose_node
      name: world_pose_node
      output: screen
      param:
        - name: config_path
          value: "$(var config_path)"

  - node:
      pkg: aruco_perception
      exec: object_pose_node
      name: object_pose_node
      output: screen
      param:
        - name: config_path
          value: "$(var config_path)"
        - name: max_tf_age
          value: "$(var max_tf_age)"
          type: float
        - name: publish_markers
          value: "$(var publish_markers)"
          type: bool