File size: 2,464 Bytes
23e1f91 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | <launch>
<arg name="serial_no_camera1" default="152222071347"/> <!-- Note: Replace with actual serial number -->
<arg name="serial_no_camera2" default="151222070157"/> <!-- Note: Replace with actual serial number -->
<arg name="serial_no_camera3" default="152122076534"/> <!-- Note: Replace with actual serial number -->
<arg name="camera1" default="camera_l"/> <!-- Note: Replace with camera name -->
<arg name="camera2" default="camera_r"/> <!-- Note: Replace with camera name -->
<arg name="camera3" default="camera_f"/> <!-- Note: Replace with camera name -->
<arg name="tf_prefix_camera1" default="$(arg camera1)"/>
<arg name="tf_prefix_camera2" default="$(arg camera2)"/>
<arg name="tf_prefix_camera3" default="$(arg camera3)"/>
<arg name="initial_reset" default="false"/>
<arg name="reconnect_timeout" default="6.0"/>
<group ns="$(arg camera1)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="serial_no" value="$(arg serial_no_camera1)"/>
<arg name="tf_prefix" value="$(arg tf_prefix_camera1)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="reconnect_timeout" value="$(arg reconnect_timeout)"/>
</include>
</group>
<group ns="$(arg camera2)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="serial_no" value="$(arg serial_no_camera2)"/>
<arg name="tf_prefix" value="$(arg tf_prefix_camera2)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="reconnect_timeout" value="$(arg reconnect_timeout)"/>
</include>
</group>
<group ns="$(arg camera3)" if="$(eval serial_no_camera3 != '')">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="serial_no" value="$(arg serial_no_camera3)"/>
<arg name="tf_prefix" value="$(arg tf_prefix_camera3)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
<arg name="reconnect_timeout" value="$(arg reconnect_timeout)"/>
</include>
</group>
<!-- Launch RViz for visualization -->
<node name="rviz" pkg="rviz" type="rviz" args="-d /home/agilex/.zwc/collect_data_cam_ob.rviz" />
</launch>
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