35 lines
1.3 KiB
Text
35 lines
1.3 KiB
Text
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<launch>
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<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
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<param name="/filtre/zmax" value="1.9" type="double"/>
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<!-- hand color
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<param name="/filtre/hue" value="0.0" type="double"/>
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-->
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<param name="/filtre/hue" value="210.0" type="double"/>
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<param name="/filtre/delta_hue" value="20.0" type="double"/>
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<node name="filtre" pkg="hand_control" type="filtre">
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<remap from="/filtre/input" to="/camera/xyzrgb/points"/>
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</node>
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<node name="estimator" pkg="hand_control" type="normal_estimator">
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<remap from="/estimator/input" to="/filtre/output"/>
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</node>
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<param name="/commande/max_curv" value="0.02" type="double" />
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<param name="/commande/plan_vel" value="0.2" type="double" />
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<param name="/commande/z_vel" value="1.0" type="double" />
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<param name="/commande/min_number" value="2000" type="int" />
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<param name="/commande/x_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/dz_dev_min" value="0.05" type="double" />
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<node name="commander" pkg="hand_control" type="commande-new-1d">
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<remap from="/commande/input" to="/estimator/output"/>
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</node>
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</launch>
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