21 lines
855 B
XML
21 lines
855 B
XML
<launch>
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<!-- Panda -->
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<include file="$(find active_grasp)/launch/panda.launch" />
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<!-- Camera -->
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<include file="$(find realsense2_camera)/launch/rs_camera.launch">
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<arg name="enable_pointcloud" value="true" />
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<arg name="enable_infra1" value="true" />
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<arg name="publish_tf" value="false" />
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</include>
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<!-- AprilTag -->
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<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">
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<rosparam command="load" file="$(find active_grasp)/cfg/apriltag.yaml" />
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<remap from="image_rect" to="/camera/infra1/image_rect_raw" />
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<remap from="camera_info" to="/camera/infra1/camera_info" />
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<param name="camera_frame" type="str" value="camera_depth_optical_frame" />
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<param name="publish_tag_detections_image" type="bool" value="true" />
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</node>
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</launch>
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