31 lines
1.2 KiB
XML
31 lines
1.2 KiB
XML
|
|
<launch>
|
|
|
|
<include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
|
|
|
|
<param name="/filtre/zmax" value="1.1" type="double"/>
|
|
<param name="/filtre/hue" value="0.0" type="double"/>
|
|
<param name="/filtre/delta_hue" value="10.0" 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="0.3" type="double" />
|
|
<param name="/commande/z_vel" value="0.3" 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">
|
|
<remap from="/commande/input" to="/estimator/output"/>
|
|
</node>
|
|
|
|
</launch>
|