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table_viewer.launch
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75 lines (52 loc) · 3.76 KB
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<launch>
<include file="$(find freenect_launch)/launch/freenect.launch"/>
<!--
<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"/>
-->
<node name="dynparam" pkg="dynamic_reconfigure" type="dynparam" args="set /camera/driver depth_registration True"> </node>
<node name="dynparam1" pkg="dynamic_reconfigure" type="dynparam" args="set /camera/driver image_mode 2"> </node>
<node name="dynparam2" pkg="dynamic_reconfigure" type="dynparam" args="set /camera/driver depth_mode 2"> </node>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_link"/>
<arg name="global_frame_id" default="map"/>
<arg name="rgb_camera_info_url" value="/home/adllo/catkin_ws/src/table_cleaner/src/rviz/rgb.yaml" />
<arg name="depth_camera_info_url" value="/home/adllo/catkin_ws/src/table_cleaner/src/rviz/depth.yaml" />
<arg name="model" />
<arg name="gui" default="False" />
<param name="robot_description" textfile="/home/adllo/catkin_ws/src/table_cleaner/src/rviz/setup_v2.urdf" />
<param name="use_gui" value="$(arg gui)"/>
<!--
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-->
<node pkg="dn_object_detect" type="dn_object_detect" name="dn_object_detect" output="screen">
<param name="camera" type="str" value="/camera/rgb/image_rect_color"/>
<param name="_image_transport" type="str" value="compressed"/>
<param name="yolo_config" type="str" value="/home/adllo/catkin_ws/src/dn_object_detect/darknet/table_cleaner/cfg/tiny-yolo_table_cleaner.cfg"/>
<param name="yolo_model" type="str" value="/home/adllo/catkin_ws/src/dn_object_detect/darknet/table_cleaner/weights/tiny-yolo_37000.weights"/>
</node>
<node name="dish_pcl_seg" pkg="table_cleaner" type="dish_pcl_seg"/>
<node name="dish_vis_seg" pkg="table_cleaner" type="dish_vis_seg" respawn="true"/>
<node name="dish_fusion" pkg="table_cleaner" type="dish_fusion"/>
<include file="$(find agile_grasp)/launch/dish_grasp.launch"/>
<node name="fork_pcl_seg" pkg="table_cleaner" type="fork_pcl_seg"/>
<node name="fork_vis_seg" pkg="table_cleaner" type="fork_vis_seg" respawn="true"/>
<node name="fork_fusion" pkg="table_cleaner" type="fork_fusion"/>
<include file="$(find agile_grasp)/launch/fork_grasp.launch"/>
<node name="glass_pcl_seg" pkg="table_cleaner" type="glass_pcl_seg"/>
<node name="glass_vis_seg" pkg="table_cleaner" type="glass_vis_seg" respawn="true"/>
<node name="glass_fusion" pkg="table_cleaner" type="glass_fusion"/>
<include file="$(find agile_grasp)/launch/glass_grasp.launch"/>
<node name="knife_pcl_seg" pkg="table_cleaner" type="knife_pcl_seg"/>
<node name="knife_vis_seg" pkg="table_cleaner" type="knife_vis_seg" respawn="true"/>
<node name="knife_fusion" pkg="table_cleaner" type="knife_fusion"/>
<include file="$(find agile_grasp)/launch/knife_grasp.launch"/>
<node name="spoon_pcl_seg" pkg="table_cleaner" type="spoon_pcl_seg"/>
<node name="spoon_vis_seg" pkg="table_cleaner" type="spoon_vis_seg" respawn="true"/>
<node name="spoon_fusion" pkg="table_cleaner" type="spoon_fusion"/>
<include file="$(find agile_grasp)/launch/spoon_grasp.launch"/>
<include file="$(find ur_bringup)/launch/ur5_bringup.launch"/>
<include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch"/>
<include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d /home/adllo/catkin_ws/src/table_cleaner/src/rviz/table_viewer.rviz"/>
</launch>