hand_control/launch/all-new.launch
2015-05-12 20:35:01 +02:00

34 lines
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XML

<launch>
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
<param name="/filtre/zmax" value="1.9" type="double"/>
<!-- hand color
<param name="/filtre/hue" value="0.0" type="double"/>
-->
<param name="/filtre/hue" value="210.0" type="double"/>
<param name="/filtre/delta_hue" value="20.0" type="double"/>
<node name="filtre" pkg="hand_control" type="filtre">
<remap from="/filtre/input" to="/camera/xyzrgb/points"/>
</node>
<node name="estimator" pkg="hand_control" type="normal_estimator">
<remap from="/estimator/input" to="/filtre/output"/>
</node>
<param name="/commande/max_curv" value="0.02" type="double" />
<param name="/commande/plan_vel" value="0.2" type="double" />
<param name="/commande/z_vel" value="1.0" type="double" />
<param name="/commande/min_number" value="2000" type="int" />
<param name="/commande/x_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/dz_dev_min" value="0.05" type="double" />
<node name="commander" pkg="hand_control" type="commande-new">
<remap from="/commande/input" to="/estimator/output"/>
</node>
</launch>