• launch/openni2.launch
  • Entry point for using OpenNI2 devices
  • • camera [default: camera] — 'camera' should uniquely identify the device. All topics are pushed down into the 'camera' namespace, and it is prepended to tf frame ids.
    • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg camera)_depth_optical_frame]
    • device_id [default: #1] — device_id can have the following formats: '#1' : the first device found '2@X' : the Xth device on USB bus 2
    • id_manufacturer [default: 1d27] — Vendor ID of the sensor (maintained at http://www.linux-usb.org/usb-ids.html). Default: ASUS.
    • id_product [default: 0601] — Product ID of the sensor. Default: Xtion.
    • rgb_camera_info_url [default: ] — By default, calibrations are stored to file://${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.
    • depth_camera_info_url [default: ]
    • depth_registration [default: false] — Hardware depth registration
    • color_depth_synchronization [default: false]
    • auto_exposure [default: true] — This arg is not used. Preserved only for backward compatibility.
    • auto_white_balance [default: true] — This arg is not used. Preserved only for backward compatibility.
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • load_driver [default: true] — 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.
    • publish_tf [default: true]
    • rgb_processing [default: true]
    • debayer_processing [default: false]
    • ir_processing [default: false]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: false]
    • disparity_registered_processing [default: false]
    • hw_registered_processing [default: true]
    • sw_registered_processing [default: false]
    • hw_registered_processing [default: false]
    • sw_registered_processing [default: true]
    • respawn [default: false] — Disable bond topics by default
    • num_worker_threads [default: 4] — Worker threads for the nodelet manager
    • enable_reconnect [default: true] — Reconnect to device
    • serialnumber_as_name [default: false] — Use the serialnumber as the device name. True matches openni_camera behaviour
    • debug [default: false]
• launch/openni2_tf_prefix.launch
  • Entry point for using OpenNI2 devices (if you still use tf_prefix)
  • • camera [default: camera] — 'camera' should uniquely identify the device. All topics are pushed down into the 'camera' namespace, and it is prepended to tf frame ids.
    • tf_prefix [default: ]
    • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg camera)_depth_optical_frame]
    • device_id [default: #1] — device_id can have the following formats: '#1' : the first device found '2@X' : the Xth device on USB bus 2
    • id_manufacturer [default: 1d27] — Vendor ID of the sensor (maintained at http://www.linux-usb.org/usb-ids.html). Default: ASUS.
    • id_product [default: 0601] — Product ID of the sensor. Default: Xtion.
    • rgb_camera_info_url [default: ] — By default, calibrations are stored to file://${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.
    • depth_camera_info_url [default: ]
    • depth_registration [default: false] — Hardware depth registration
    • color_depth_synchronization [default: false]
    • auto_exposure [default: true] — This arg is not used. Preserved only for backward compatibility.
    • auto_white_balance [default: true] — This arg is not used. Preserved only for backward compatibility.
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • load_driver [default: true] — 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.
    • publish_tf [default: true]
    • rgb_processing [default: true]
    • debayer_processing [default: false]
    • ir_processing [default: false]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: false]
    • disparity_registered_processing [default: false]
    • hw_registered_processing [default: true]
    • sw_registered_processing [default: false]
    • hw_registered_processing [default: false]
    • sw_registered_processing [default: true]
    • respawn [default: false] — Disable bond topics by default
    • num_worker_threads [default: 4] — Worker threads for the nodelet manager
    • enable_reconnect [default: true] — Reconnect to device
    • serialnumber_as_name [default: false] — Use the serialnumber as the device name. True matches openni_camera behaviour
    • debug [default: false]
• launch/kinect_frames.launch
  • • camera [default: ]
    • tf_prefix [default: ]
• launch/includes/processing.launch
  • • manager [default: ]
    • respawn [default: ]
    • rgb [default: ]
    • ir [default: ]
    • depth [default: ]
• launch/includes/color.launch
  • Load processing nodelets for the Color camera
  • • manager [default: ]
    • respawn [default: ]
    • rgb [default: ]
• launch/includes/ir.launch
  • • manager [default: ]
    • respawn [default: ]
    • ir [default: ]
• launch/includes/device.launch
  • • manager
    • device_id
    • rgb_frame_id
    • depth_frame_id
    • rgb_camera_info_url
    • depth_camera_info_url
    • depth_registration [default: true]
    • color_depth_synchronization [default: false]
    • auto_exposure [default: true] — This arg is not used. Preserved only for backward compatibility.
    • auto_white_balance [default: true] — This arg is not used. Preserved only for backward compatibility.
    • respawn [default: false]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
• launch/includes/manager.launch
  • • manager [default: ]
    • debug [default: ]
• launch/includes/depth.launch
  • Load processing nodelets for the depth camera
  • • manager [default: ]
    • points_xyz [default: ]
    • rectify [default: ]
    • respawn [default: ]
    • depth [default: ]
• launch/includes/pointclouds.launch
  • Load processing nodelets for the Color camera
  • • manager [default: ]
    • points_xyz [default: ]
    • rectify [default: ]
    • respawn [default: ]
    • depth [default: ]
• launch/includes/device.launch.xml
  • Launch the OpenNI2 device driver
  • • manager
    • device_id
    • id_manufacturer
    • id_product
    • rgb_frame_id
    • depth_frame_id
    • rgb_camera_info_url
    • depth_camera_info_url
    • ir_mode [default: 5]
    • color_mode [default: 5]
    • depth_mode [default: 5]
    • depth_registration [default: true]
    • color_depth_synchronization [default: false]
    • auto_exposure [default: true] — This arg is not used. Preserved only for backward compatibility.
    • auto_white_balance [default: true] — This arg is not used. Preserved only for backward compatibility.
    • respawn [default: false]
    • enable_reconnect [default: true] — Reconnect to device
    • serialnumber_as_name [default: false] — Use the serialnumber as the device name. True matches openni_camera behaviour
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]

• roswtf

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