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two_o3r_heads.yaml
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two_o3r_heads.yaml
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# Example configuration for a two O3R camera setup.
# Cameras are differentiated by their hypothetical position: left or right.
# Expected to be used with example/two_o3r_heads.launch.py
/ifm3d/left_camera_2d:
ros__parameters:
buffer_id_list:
- JPEG_IMAGE
- RGB_INFO
frame_latency_thresh: 1.0
ip: 192.168.0.69
password: ""
pcic_port: 50010 # 2D stream of left camera connected to port 0
sync_clocks: false
timeout_millis: 500
timeout_tolerance_secs: 5.0
tf:
base_frame_name: "ifm_base_link"
mounting_frame_name: "left_camera_2d_mounting_link"
optical_frame_name: "left_camera_2d_optical_link"
publish_base_to_mounting: true
publish_mounting_to_optical: true
use_sim_time: false
xmlrpc_port: 80
/ifm3d/left_camera_3d:
ros__parameters:
buffer_id_list:
- CONFIDENCE_IMAGE
- EXTRINSIC_CALIB
- NORM_AMPLITUDE_IMAGE
- RADIAL_DISTANCE_IMAGE
- TOF_INFO
- XYZ
frame_latency_thresh: 1.0
ip: 192.168.0.69
password: ""
pcic_port: 50012 # 3D stream of left camera connected to Port 2
sync_clocks: false
timeout_millis: 500
timeout_tolerance_secs: 5.0
tf:
base_frame_name: "ifm_base_link"
mounting_frame_name: "left_camera_3d_mounting_link"
optical_frame_name: "left_camera_3d_optical_link"
publish_base_to_mounting: true
publish_mounting_to_optical: true
use_sim_time: false
xmlrpc_port: 80
/ifm3d/right_camera_2d:
ros__parameters:
buffer_id_list:
- JPEG_IMAGE
- RGB_INFO
frame_latency_thresh: 1.0
ip: 192.168.0.69
password: ""
pcic_port: 50011 # 2D stream of left camera connected to port 1
sync_clocks: false
timeout_millis: 500
timeout_tolerance_secs: 5.0
tf:
base_frame_name: "ifm_base_link"
mounting_frame_name: "right_camera_2d_mounting_link"
optical_frame_name: "right_camera_2d_optical_link"
publish_base_to_mounting: true
publish_mounting_to_optical: true
use_sim_time: false
xmlrpc_port: 80
/ifm3d/right_camera_3d:
ros__parameters:
buffer_id_list:
- CONFIDENCE_IMAGE
- EXTRINSIC_CALIB
- NORM_AMPLITUDE_IMAGE
- RADIAL_DISTANCE_IMAGE
- TOF_INFO
- XYZ
frame_latency_thresh: 1.0
ip: 192.168.0.69
password: ""
pcic_port: 50013 # 3D stream of right camera connected to Port 3
sync_clocks: false
timeout_millis: 500
timeout_tolerance_secs: 5.0
tf:
base_frame_name: "ifm_base_link"
mounting_frame_name: "right_camera_3d_mounting_link"
optical_frame_name: "right_camera_3d_optical_link"
publish_base_to_mounting: true
publish_mounting_to_optical: true
use_sim_time: false
xmlrpc_port: 80