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  1. <launch>
  2. <node pkg="openni_camera" type="openni_node" name="openni_node2" output="screen" >
  3. <remap from="camera" to="kinect2" />
  4. <!--param name="topic" value="second" /-->
  5. <!--param name="device_id" value="B0036721009042B"/--> <!-- this line uses device with given serial number -->
  6.  
  7. <param name="device_id" value="#2"/> <!-- this line uses first enumerated device -->
  8. <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
  9. <param name="rgb_frame_id" value="/openni_rgb_optical_frame2" />
  10. <param name="depth_frame_id" value="/openni_depth_optical_frame2" />
  11. <param name="depth_registration" value="true" />
  12. <param name="image_mode" value="2" />
  13. <param name="depth_mode" value="2" />
  14. <param name="debayering" value="2" />
  15. <param name="depth_time_offset" value="0" />
  16. <param name="image_time_offset" value="0" />
  17. </node>
  18. <include file="$(find openni_camera)/launch/kinect_frames2.launch"/>
  19. </launch>
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