• launch/examples/freenect-debug.launch
• launch/examples/freenect-diagnostics.launch
• launch/examples/freenect-ns.launch
  • • ns [default: robot1]
    • tf_prefix [default: /robot1_prefix]
• launch/examples/freenect-registered-xyzrgb.launch
• launch/examples/freenect-xyz.launch
• launch/freenect.launch
  • Entry point for using OpenNI devices
  • • camera [default: camera]
    • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg camera)_depth_optical_frame]
    • data_skip [default: 0]
    • 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]
    • projector [default: projector]
    • load_driver [default: true]
    • publish_tf [default: true]
    • motor_processing [default: false]
    • audio_processing [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]
    • libfreenect_debug [default: false]
    • enable_rgb_diagnostics [default: false]
    • enable_ir_diagnostics [default: false]
    • enable_depth_diagnostics [default: false]
    • diagnostics_max_frequency [default: 30.0]
    • diagnostics_min_frequency [default: 30.0]
    • diagnostics_tolerance [default: 0.05]
    • diagnostics_window_time [default: 5.0]
    • debug [default: false]
• launch/freenect2.launch
  • Entry point for using OpenNI devices
  • • camera [default: camera]
    • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg camera)_depth_optical_frame]
    • data_skip [default: 0]
    • 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]
    • projector [default: projector]
    • load_driver [default: true]
    • publish_tf [default: true]
    • motor_processing [default: false]
    • audio_processing [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]
    • libfreenect_debug [default: false]
    • enable_rgb_diagnostics [default: false]
    • enable_ir_diagnostics [default: false]
    • enable_depth_diagnostics [default: false]
    • diagnostics_max_frequency [default: 30.0]
    • diagnostics_min_frequency [default: 30.0]
    • diagnostics_tolerance [default: 0.05]
    • diagnostics_window_time [default: 5.0]
    • debug [default: false]
• launch/freenect_tf_prefix.launch
  • Entry point for using OpenNI devices
  • • camera [default: camera]
    • tf_prefix [default: ]
    • rgb_frame_id [default: $(arg tf_prefix)/$(arg camera)_rgb_optical_frame]
    • depth_frame_id [default: $(arg tf_prefix)/$(arg camera)_depth_optical_frame]
    • data_skip [default: 0]
    • 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]
    • 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)]
    • num_worker_threads [default: 4]
    • libfreenect_debug [default: false]
    • enable_rgb_diagnostics [default: false]
    • enable_ir_diagnostics [default: false]
    • enable_depth_diagnostics [default: false]
    • diagnostics_max_frequency [default: 30.0]
    • diagnostics_min_frequency [default: 30.0]
    • diagnostics_tolerance [default: 0.05]
    • diagnostics_window_time [default: 5.0]
    • debug [default: false]
• launch/includes/depth.launch
  • • manager [default: ]
    • points_xyz [default: ]
    • rectify [default: ]
    • publish_metric [default: ]
    • publish_metric_rect [default: ]
    • respawn [default: ]
    • depth [default: ]
• launch/includes/depth_registered.launch
  • • manager [default: ]
    • points_xyzrgb [default: ]
    • publish_metric [default: ]
    • publish_metric_rect [default: ]
    • allow_software_registration [default: ]
    • allow_hardware_registration [default: ]
    • respawn [default: ]
    • rgb [default: ]
    • depth [default: ]
    • depth_registered [default: ]
    • suffix [default: ]
• launch/includes/device.launch
  • • manager [default: ]
    • device_id [default: ]
    • rgb_frame_id [default: ]
    • depth_frame_id [default: ]
    • rgb_camera_info_url [default: ]
    • depth_camera_info_url [default: ]
    • depth_registration [default: ]
    • respawn [default: ]
    • rgb [default: ]
    • ir [default: ]
    • depth [default: ]
    • depth_registered [default: ]
    • projector [default: ]
    • data_skip [default: ]
    • libfreenect_debug [default: ]
    • enable_rgb_diagnostics [default: ]
    • enable_ir_diagnostics [default: ]
    • enable_depth_diagnostics [default: ]
    • diagnostics_max_frequency [default: ]
    • diagnostics_min_frequency [default: ]
    • diagnostics_tolerance [default: ]
    • diagnostics_window_time [default: ]
• launch/includes/disparity.launch
  • • manager [default: ]
    • depth [default: ]
    • projector [default: ]
    • respawn [default: ]
• launch/includes/ir.launch
  • • manager [default: ]
    • respawn [default: ]
    • ir [default: ]
• launch/includes/manager.launch
  • • manager [default: ]
    • debug [default: ]
• launch/includes/processing.launch
  • • manager [default: ]
    • rgb [default: ]
    • ir [default: ]
    • depth [default: ]
    • depth_registered [default: ]
    • projector [default: ]
    • respawn [default: ]
• launch/kinect-xyz.launch
• launch/kinect_frames.launch
  • • camera [default: ]
    • tf_prefix [default: ]
• launch/kinect_frames2.launch
  • Default frames for Kinect/PSDK5 devices Places depth and RGB cameras in the same plane with 2.5cm baseline. Calibration may improve results, but these defaults are reasonably accurate.
  • • camera [default: camera]
    • tf_prefix [default: ]
• launch/includes/depth.launch.xml
  • Load processing nodelets for the depth camera
  • • manager
    • occupancy_xyz [default: true]
    • rectify [default: true]
    • respawn [default: false]
    • depth
• launch/includes/depth2.launch.xml
  • Load processing nodelets for the depth camera
  • • manager
    • occupancy_xyz [default: true]
    • rectify [default: true]
    • respawn [default: false]
    • depth
• launch/includes/device.launch.xml
  • Launch the OpenNI device driver
  • • manager
    • device_id
    • rgb_frame_id
    • depth_frame_id
    • rgb_camera_info_url
    • depth_camera_info_url
    • depth_registration
    • data_skip
    • libfreenect_debug [default: false]
    • enable_rgb_diagnostics [default: false]
    • enable_ir_diagnostics [default: false]
    • enable_depth_diagnostics [default: false]
    • diagnostics_max_frequency [default: 30.0]
    • diagnostics_min_frequency [default: 30.0]
    • diagnostics_tolerance [default: 0.05]
    • diagnostics_window_time [default: 5.0]
    • motor_processing [default: false]
    • audio_processing [default: false]
    • rgb_processing [default: false]
    • ir_processing [default: false]
    • depth_processing [default: false]
    • respawn [default: false]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • projector [default: projector]
• launch/includes/processing.launch.xml
  • Load full set of processing nodelets for a RGBD device
  • • manager
    • respawn [default: false]
    • rgb_processing [default: true]
    • debayer_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]
    • sw_registered_processing [default: true]
    • hw_registered_processing [default: true]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • projector [default: projector]
• launch/includes/processing2.launch.xml
  • Load full set of processing nodelets for a RGBD device
  • • manager
    • respawn [default: false]
    • rgb_processing [default: true]
    • debayer_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]
    • sw_registered_processing [default: true]
    • hw_registered_processing [default: true]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • projector [default: projector]

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