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| Original file line number | Diff line number | Diff line change |
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| source User/user_setup.bash | ||
| screen -c User/screenrc -r |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,4 @@ | ||
| <launch> | ||
| <include file="$(find naoqi_apps)/launch/tablet.launch" /> | ||
| <include file="$(find naoqi_apps)/launch/basic_awareness.launch" /> | ||
| <include file="$(find naoqi_apps)/launch/background_movement.launch" /> | ||
| <node pkg="jsk_pepper_startup" name="meeting" | ||
| type="meeting.l" args="'(main)'" /> | ||
| </launch> |
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31 changes: 31 additions & 0 deletions
31
jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml
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| <!-- this file is copied and modified from $(find rgbd_launch)/launch/includes/manager.launch.xml --> | ||
| <!-- this file is modified from original to add respawn arguments --> | ||
| <!-- see https://github.com/ros-drivers/rgbd_launch/pull/40 --> | ||
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| <!-- Start nodelet manager --> | ||
| <launch> | ||
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| <!-- Name here should NOT be globally qualified (node names cannot contain /) --> | ||
| <arg name="name" /> | ||
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| <!-- Optionally launch manager in GDB, for debugging --> | ||
| <arg name="debug" default="false" /> | ||
| <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" /> | ||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | ||
| <!-- Worker threads --> | ||
| <arg name="num_worker_threads" /> | ||
| <!-- respawn --> | ||
| <arg name="respawn" /> | ||
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| <!-- Also globally disable bond heartbeat timeout in debug mode, so everything | ||
| doesn't die when you hit a break point --> | ||
| <param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" /> | ||
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| <!-- Nodelet manager --> | ||
| <node pkg="nodelet" type="nodelet" name="$(arg name)" args="manager" | ||
| output="screen" launch-prefix="$(arg launch_prefix)" | ||
| respawn="$(arg respawn)"> | ||
| <param name="num_worker_threads" value="$(arg num_worker_threads)" /> | ||
| </node> | ||
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| </launch> |
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jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch
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| <!-- this file is copied and modified from $(find openni_launch)/launch/openni.launch --> | ||
| <!-- this launch is modified from original to add manager_respawn arguments --> | ||
| <!-- see https://github.com/ros-drivers/openni_camera/pull/78 --> | ||
|
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| <!-- Entry point for using OpenNI devices --> | ||
| <launch> | ||
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| <!-- "camera" should uniquely identify the device. All topics are pushed down | ||
| into the "camera" namespace, and it is prepended to tf frame ids. --> | ||
| <arg name="camera" default="camera" /> | ||
| <arg name="rgb_frame_id" default="$(arg camera)_rgb_optical_frame" /> | ||
| <arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" /> | ||
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| <!-- device_id can have the following formats: | ||
| "B00367707227042B": Use device with given serial number | ||
| "#1" : Use first device found | ||
| "2@3" : Use device on USB bus 2, address 3 | ||
| "2@0" : Use first device found on USB bus 2 | ||
| --> | ||
| <arg name="device_id" default="#1" /> | ||
|
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| <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml, | ||
| where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B". | ||
| See camera_info_manager docs for calibration URL details. --> | ||
| <arg name="rgb_camera_info_url" default="" /> | ||
| <arg name="depth_camera_info_url" default="" /> | ||
|
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| <!-- Use OpenNI's factory-calibrated depth->RGB registration? --> | ||
| <arg name="depth_registration" default="false" /> | ||
|
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| <!-- Arguments for remapping all device namespaces --> | ||
| <arg name="rgb" default="rgb" /> | ||
| <arg name="ir" default="ir" /> | ||
| <arg name="depth" default="depth" /> | ||
| <arg name="depth_registered" default="depth_registered" /> | ||
| <arg name="depth_registered_filtered" default="depth_registered" /> | ||
| <arg name="projector" default="projector" /> | ||
|
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| <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf | ||
| tree. Useful if you are playing back recorded raw data from a bag, or are | ||
| supplying a more accurate tf tree from calibration. --> | ||
| <arg name="load_driver" default="true" /> | ||
| <arg name="publish_tf" default="true" /> | ||
| <!-- Processing Modules --> | ||
| <arg name="rgb_processing" default="true"/> | ||
| <arg name="ir_processing" default="true"/> | ||
| <arg name="depth_processing" default="true"/> | ||
| <arg name="depth_registered_processing" default="true"/> | ||
| <arg name="disparity_processing" default="true"/> | ||
| <arg name="disparity_registered_processing" default="true"/> | ||
| <arg name="hw_registered_processing" default="true" /> | ||
| <arg name="sw_registered_processing" default="true" /> | ||
|
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| <!-- Disable bond topics by default --> | ||
| <arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead --> | ||
| <arg name="respawn" default="$(arg bond)" /> | ||
| <arg name="manager_respawn" default="false" /> | ||
|
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| <!-- Worker threads for the nodelet manager --> | ||
| <arg name="num_worker_threads" default="4" /> | ||
|
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| <!-- Push down all topics/nodelets into "camera" namespace --> | ||
| <group ns="$(arg camera)"> | ||
|
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| <!-- Start nodelet manager in top-level namespace --> | ||
| <arg name="manager" value="$(arg camera)_nodelet_manager" /> | ||
| <arg name="debug" default="false" /> <!-- Run manager in GDB? --> | ||
| <include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/manager.launch.xml"> | ||
| <arg name="name" value="$(arg manager)" /> | ||
| <arg name="debug" value="$(arg debug)" /> | ||
| <arg name="num_worker_threads" value="$(arg num_worker_threads)" /> | ||
| <arg name="respawn" value="$(arg manager_respawn)" /> | ||
| </include> | ||
|
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| <!-- Load driver --> | ||
| <include if="$(arg load_driver)" | ||
| file="$(find openni_launch)/launch/includes/device.launch.xml"> | ||
| <!-- Could really use some syntactic sugar for this --> | ||
| <arg name="manager" value="$(arg manager)" /> | ||
| <arg name="device_id" value="$(arg device_id)" /> | ||
| <arg name="rgb_frame_id" value="$(arg rgb_frame_id)" /> | ||
| <arg name="depth_frame_id" value="$(arg depth_frame_id)" /> | ||
| <arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)" /> | ||
| <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" /> | ||
| <arg name="depth_registration" value="$(arg depth_registration)" /> | ||
| <arg name="rgb" value="$(arg rgb)" /> | ||
| <arg name="ir" value="$(arg ir)" /> | ||
| <arg name="depth" value="$(arg depth)" /> | ||
| <arg name="depth_registered" value="$(arg depth_registered)" /> | ||
| <arg name="projector" value="$(arg projector)" /> | ||
| <arg name="respawn" value="$(arg respawn)" /> | ||
| </include> | ||
|
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| <!-- Load standard constellation of processing nodelets --> | ||
| <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml"> | ||
| <arg name="manager" value="$(arg manager)" /> | ||
| <arg name="rgb" value="$(arg rgb)" /> | ||
| <arg name="ir" value="$(arg ir)" /> | ||
| <arg name="depth" value="$(arg depth)" /> | ||
| <arg name="depth_registered" value="$(arg depth_registered)" /> | ||
| <arg name="depth_registered_filtered" value="$(arg depth_registered_filtered)" /> | ||
| <arg name="projector" value="$(arg projector)" /> | ||
| <arg name="respawn" value="$(arg respawn)" /> | ||
| <arg name="rgb_processing" value="$(arg rgb_processing)" /> | ||
| <arg name="ir_processing" value="$(arg ir_processing)" /> | ||
| <arg name="depth_processing" value="$(arg depth_processing)" /> | ||
| <arg name="depth_registered_processing" value="$(arg depth_registered_processing)" /> | ||
| <arg name="disparity_processing" value="$(arg disparity_processing)" /> | ||
| <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" /> | ||
| <arg name="hw_registered_processing" value="$(arg hw_registered_processing)" /> | ||
| <arg name="sw_registered_processing" value="$(arg sw_registered_processing)" /> | ||
| </include> | ||
|
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| </group> <!-- camera --> | ||
|
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| <!-- Load reasonable defaults for the relative pose between cameras --> | ||
| <include if="$(arg publish_tf)" | ||
| file="$(find rgbd_launch)/launch/kinect_frames.launch"> | ||
| <arg name="camera" value="$(arg camera)" /> | ||
| </include> | ||
|
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| </launch> |
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