• sample/pr2_heightmap.launch
  • • input_cloud [default: /tilt_scan_shadow_filtered]
    • DEBUG_VIEW [default: false]
• sample/pr2_gazebo_73b2.launch
  • • INITIAL_POSE_X [default: 1.0]
    • INITIAL_POSE_Y [default: 0.0]
    • INITIAL_POSE_YAW [default: 0.0]
• sample/pr2_gazebo_610.launch
  • • INITIAL_POSE_X [default: 1.0]
    • INITIAL_POSE_Y [default: 0.0]
    • INITIAL_POSE_YAW [default: 0.0]
• jsk_pr2_sensors/kinect_head_self_filter.launch
  • • ROBOT [default: $(optenv ROBOT sim)]
    • machine [default: c2]
    • respawn [default: true]
    • camera [default: kinect_head]
• jsk_pr2_sensors/tablet_startup.launch
• jsk_pr2_sensors/pr2_teleop_robot.launch
  • • launch_tf_buffer [default: true]
    • launch_image_resized [default: true]
    • launch_image_roi [default: true]
    • launch_interactive_controller [default: true]
    • tf_update_rate [default: 1.0]
• jsk_pr2_sensors/camera_framerate.launch
  • • framerate [default: 3.0]
• jsk_pr2_sensors/people_detection.launch
  • • face_detect [default: true]
    • leg_detect [default: true]
    • publish_people [default: true]
    • camera [default: kinect_head]
    • image_topic [default: image_rect_color]
    • depth_topic [default: image_raw]
    • fixed_frame [default: kinect_head_rgb_optical_frame]
    • depth_ns [default: depth_registered]
• jsk_pr2_sensors/kinect_head_c2.launch
  • Originated from /opt/ros/indigo/share/openni_launch/launch/openni.launch
  • • camera [default: kinect_head]
    • deprecated_relay [default: false]
    • manager [default: kinect_head_c2_nodelet_manager]
    • debug [default: false]
    • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg camera)_ir_optical_frame]
    • device_id [default: #1]
    • rgb_camera_info_url [default: ]
    • depth_camera_info_url [default: ]
    • depth_registration [default: true]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • depth_registered_filtered [default: depth_registered]
    • projector [default: projector]
    • load_driver [default: false]
    • publish_tf [default: false]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • hw_registered_processing [default: true]
    • sw_registered_processing [default: true]
    • bond [default: false]
    • respawn [default: $(arg bond)]
    • num_worker_threads [default: 4]
• jsk_pr2_sensors/openni_tracker.launch
• jsk_pr2_sensors/openni.launch
  • this file is copied and modified from $(find openni_launch)/launch/openni.launch
  • • camera [default: camera]
    • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg camera)_depth_optical_frame]
    • device_id [default: #1]
    • rgb_camera_info_url [default: ]
    • depth_camera_info_url [default: ]
    • depth_registration [default: false]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • depth_registered_filtered [default: depth_registered]
    • projector [default: projector]
    • load_driver [default: true]
    • publish_tf [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • hw_registered_processing [default: true]
    • sw_registered_processing [default: true]
    • bond [default: false]
    • respawn [default: $(arg bond)]
    • manager_respawn [default: false]
    • num_worker_threads [default: 4]
    • debug [default: false]
• jsk_pr2_sensors/pr2_teleop_remote.launch
  • • REMOTE_TF [default: /tf_low_frequency]
    • launch_tf_buffer [default: true]
    • launch_pcl_roi [default: true]
    • launch_image_resized [default: true]
    • launch_image_roi [default: true]
    • launch_interactive_controller [default: true]
• jsk_pr2_sensors/kinect_head.launch
  • • load_driver [default: true] — launch driver set to false on gazebo
    • manager_respawn [default: true]
    • respawn [default: true]
    • use_c2 [default: true] — Launch nodes for registration on C2
    • deprecated_relay [default: true] — advertise to deprecated kinect_head_c2 ns
    • camera [default: kinect_head]
    • num_worker_threads [default: 8]
    • monitor_driver [default: false]
    • throttle_rgb [default: true]
    • throttle_depth [default: true]
    • throttle_cloud [default: true]
    • throttle_rate [default: 5.0]
    • manager [default: kinect_head_nodelet_manager]
    • manager [default: kinect_head_c2_nodelet_manager]
    • registration_c1 [default: true]
    • registration_c1 [default: false]
    • machine [default: c1]
    • machine [default: c2]
• jsk_pr2_sensors/pr2_rfcomm_bind.launch
  • • machine [default: localhost]
    • rfcomm_devices [default: /var/lib/robot/rfcomm_devices.yaml]
• jsk_pr2_sensors/pr2_remote_startup.launch
  • • MACHINE [default: localhost]
    • launch_openni [default: true]
    • launch_battery [default: false]
• jsk_pr2_lifelog/rosbag_play.launch
  • • rosbag
    • manager [default: rosbag_play_nodelet_manager]
    • launch_nodelet_manager [default: true]
    • loop [default: true]
    • gui [default: false]
    • start_time [default: 0]
    • duration_time [default: 0]
    • duration [default: --duration $(arg duration_time)]
    • duration [default: ]
• jsk_pr2_lifelog/pr2_gdrive_server.launch
  • • machine [default: localhost]
    • settings_yaml [default: $(optenv GOOGLE_DRIVE_SETTINGS_YAML /var/lib/robot/pydrive_settings.yaml)]
    • respawn [default: false]
    • node_name [default: gdrive_server]
• jsk_pr2_lifelog/pr2_tweet.launch
• jsk_pr2_lifelog/rosbag_record.launch
  • • rosbag — rosbag file path
    • compress [default: false] — whether compress rosbag or not.
    • other_topics [default: ]
    • use_regex [default: true] — whether include regex in topics or not.
    • other_options [default: ]
• jsk_pr2_lifelog/visualization/pr2_log_visualization.launch
  • • ROBOT [default: $(env ROBOT)]
• jsk_pr2_lifelog/active_user_diag.launch
• jsk_pr2_lifelog/db_client.launch
  • • ROBOT [default: $(env ROBOT)]
    • map_frame [default: eng2]
    • visualize_log [default: false]
    • twitter [default: true]
    • machine [default: c2]
    • output [default: screen]
• jsk_pr2_lifelog/pr2_microphone.launch
  • • use_microcone [default: false]
    • use_respeaker [default: true]
    • respawn [default: false]
    • language [default: ja-JP]
    • machine [default: c1]
    • machine [default: c2]
    • ROBOT [default: $(optenv ROBOT pr2)]
• jsk_pr2_moveit/start_pr2_moveit.launch
  • • USE_LASER_AND_KINECT [default: true]
    • USE_LASER [default: false]
    • USE_KINECT [default: false]
• jsk_pr2_moveit/demo.launch
• jsk_pr2_moveit/start_pr2_moveit_remote.launch
  • • USE_LASER_AND_KINECT [default: false]
    • USE_LASER [default: false]
    • USE_KINECT [default: true]
• jsk_pr2_perception/mask_rcnn.launch
  • • GPU [default: 0]
    • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
    • POINTS [default: /kinect_head/depth_registered/points]
• jsk_pr2_perception/openpose.launch
  • • GPU [default: 0]
    • IMAGE_DEPTH [default: /kinect_head/depth_registered/image_rect]
    • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
    • CAMERA_INFO [default: /kinect_head/depth_registered/camera_info]
• jsk_pr2_perception/pr2_perception.launch
  • • GPU [default: 0]
    • CAMERA_INFO [default: /kinect_head/depth_registered/camera_info]
    • IMAGE_DEPTH [default: /kinect_head/depth_registered/image_rect]
    • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
    • DECOMP_CAMERA_INFO [default: /kinect_head_decompressed/depth_registered/camera_info]
    • DECOMP_RGB_CAMERA_INFO [default: /kinect_head_decompressed/rgb/camera_info]
    • DECOMP_IMAGE_DEPTH [default: /kinect_head_decompressed/depth_registered/image_rect]
    • DECOMP_IMAGE_COLOR [default: /kinect_head_decompressed/rgb/image_rect_color]
    • DECOMP_POINTS [default: /kinect_head_decompressed/depth_registered/points]
• pr2_bringup.launch
  • • launch_stereo_camera [default: true]
    • launch_runtime_logger [default: false]
    • launch_hd_monitor [default: true]
    • launch_ntp_monitor [default: true]
    • launch_wifi_ddwrt [default: false]
    • launch_network_detector [default: true]
    • launch_sound_play [default: true]
    • use_voice_text [default: true]
    • launch_network_status [default: true]
    • launch_audio_play [default: true]
    • launch_app_manager [default: true]
    • setup_mannequin_mode [default: true] — prepares mannequin_mode to be callable by EusLisp interface
    • no-prosilica [default: false]
• jsk_pr2_joy/image_snapshot_joy.launch
  • • JOY_CONFIG [default: $(find jsk_teleop_joy)/configs/padkontrol.yaml]
    • HEAD_PUB_BUTTON [default: 0]
    • LHAND_PUB_BUTTON [default: 1]
    • RHAND_PUB_BUTTON [default: 2]
• jsk_pr2_move_base/pr2_teleop_general_joystick.launch
• jsk_pr2_move_base/pr2_2dnav.launch
  • This file is originally pr2_2dnav/pr2_2dnav.launch
  • • gazebo [default: false]
    • launch_look_forward [default: true]
    • launch_teleop_joystick [default: true]
    • launch_navigation [default: true]
    • use_map_keepout [default: false]
• pr2_jsk_interactive.launch
• pr2.launch
  • • map_frame [default: eng2]
    • launch_map [default: true]
    • launch_kinect [default: true]
    • launch_move_base [default: true]
    • launch_moveit [default: false]
    • launch_imagesift [default: false]
    • launch_facedetection [default: false]
    • launch_mjpeg_server [default: false]
    • launch_gripper_sensor [default: true]
    • launch_virtual_force [default: true]
    • launch_safety_warning [default: true]
    • launch_tablet [default: false]
    • launch_jsk_pcl [default: false]
    • launch_db [default: true]
    • launch_microphone [default: true]
    • launch_teleoperation [default: false]
    • launch_people_detection [default: false]
    • launch_look_forward [default: true]
    • launch_twitter [default: true]
    • launch_visualize_log [default: false]
    • launch_reset_motors [default: true]
    • slow_camera_framerate [default: true]
    • launch_c3_startup [default: false]
    • use_map_keepout [default: true] — whether to use keepout map or not for navigation (default: true)
    • launch_dialogflow_task_executive [default: true] — whether launch dialogflow_task_executive or not.
    • launch_gdrive_server_c1 [default: true] — whether launch gdrive_server on c1 or not.
    • launch_gdrive_server_c2 [default: true] — whether launch gdrive_server on c2 or not.
    • USER_NAME [default: false]
• jsk_pr2_image_transport/pr2_all_viewer.launch
  • • RESIZE_RATE [default: 0.1]
    • SNAP_RESIZE_RATE [default: 0.25]
    • COMPRESS_TYPE [default: compressed]
    • USE_EDGE [default: true]
• jsk_pr2_image_transport/pr2_roi_viewer.launch
  • • RESIZE_RATE [default: 0.1]
    • IMAGE_TYPE [default: image_rect_throttle]
    • COMPRESS_TYPE [default: compressed]
• jsk_pr2_image_transport/pr2_image_transport.launch
  • • USE_SNAPSHOT [default: true]
    • USE_THROTTLE [default: true]
    • USE_MJPEGSERVER [default: false]
    • USE_ROTATED [default: true]
    • USE_EDGE [default: true]
    • THROTTLE_RATE [default: 1.4]
    • THROTTLE_RESIZE_RATE [default: 0.1]
    • THROTTLE_IMAGE_TYPE [default: image_rect]
    • THROTTLE_USE_MESSAGES [default: true]
    • THROTTLE_PERIOD [default: 3]
    • SNAPSHOT_RESIZE_RATE [default: 0.25]
    • SNAPSHOT_IMAGE_TYPE [default: image_rect]
    • MJPEGSERVER_PORT [default: 8181]
    • GAZEBO_MODE [default: false]
    • LAUNCH_MANAGER [default: true]
    • IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
    • GDB [default: false]
    • CAMERA [default: kinect_head]
• jsk_pr2_image_transport/pr2_screenpoint.launch
  • • USE_STEREO [default: false]
    • CAMERA [default: /multisense_sl/camera/left]
    • POINTS_TOPIC [default: /laser/full_cloud2_raw]
    • USE_VIEW [default: true]
• jsk_pr2_image_transport/pr2_roi_transport.launch
  • • CREATE_MANAGER [default: true]
    • MANAGER_NAME [default: roi_image_proc_manager]
    • DECIMATE_CAMERA [default: /kinect_head/rgb]
    • DECIMATE_IMAGE [default: image_rect_mono]
    • DECIMATE_OUTPUT_CAMERA [default: roi_camera_output]
• pr2_gazebo.launch
  • • launch_gazebo [default: true]
    • gui [default: true]
    • paused [default: true]
    • world [default: worlds/empty.world]
    • relay [default: true]
    • relay_c2 [default: true]
    • rectify_kinect [default: true]
    • num_worker_threads [default: 4]
    • launch_pr2 [default: true]
    • map_frame [default: eng2]
    • launch_map [default: true]
    • INITIAL_POSE_X [default: 0.0]
    • INITIAL_POSE_Y [default: 0.0]
    • INITIAL_POSE_Z [default: 0.0]
    • INITIAL_POSE_ROLL [default: 0.0]
    • INITIAL_POSE_PITCH [default: 0.0]
    • INITIAL_POSE_YAW [default: 0.0]
• jsk_pr2_rocon/cameraman_sample/cameraman_pr1040_rocon.launch
• jsk_pr2_rocon/cameraman_sample/cameraman_pr1012_rocon.launch
• jsk_pr2_rocon/look_sample/look_pr1040_rocon.launch
• jsk_pr2_rocon/look_sample/look_pr1012_rocon.launch
• jsk_pr2_rocon/pr2s_rocon_common/pr2s_common_rocon.launch
  • • hub_host [default: pr1040.jsk.imi.i.u-tokyo.ac.jp]
    • hub_port [default: 6380]
    • hub_uri [default: http://$(arg hub_host):$(arg hub_port)]
    • gateway_name [default: jsk_pr1012_]
    • config_path [default: ]
• jsk_pr2_rocon/pr2s_rocon_common/pr1040_rocon.launch
  • • config_path [default: ]
    • hub_host [default: pr1040.jsk.imi.i.u-tokyo.ac.jp]
    • hub_port [default: 6380]
    • hub_uri [default: http://$(arg hub_host):$(arg hub_port)]
• jsk_pr2_rocon/pr2s_rocon_common/pr1012_rocon.launch
  • • config_path [default: ]
• jsk_pr2_rocon/chatter_sample/chatter_pr1012_rocon.launch
• jsk_pr2_rocon/chatter_sample/chatter_pr1040_rocon.launch
• rviz.launch
• jsk_pr2_sensors/manager.launch.xml
  • this file is copied and modified from $(find rgbd_launch)/launch/includes/manager.launch.xml
  • • name
    • debug [default: false]
    • num_worker_threads
    • respawn
• jsk_pr2_sensors/lasers_and_filters.xml
  • Copied from pr2_navigation_perception/laser_and_filters.xml
  • • use_tilt_laser [default: true]
    • use_base_laser [default: true]
    • gazebo [default: false]
• jsk_pr2_move_base/amcl_node.xml
  • This file is originally pr2_navigation_global/amcl_node.xml
• jsk_pr2_move_base/safe_teleop.xml
• jsk_pr2_move_base/move_base.xml
  • original : pr2_navigation_global/move_base.xml (electric)
  • • use_teb_local_planner [default: false]
    • use_map_keepout [default: false]
• jsk_pr2_move_base/ground_plane.xml
• apps/hello_world/hello_world.xml
• apps/tweet/tweet.xml

• rqt_gui

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