Merge pull request #28 from Rehab-Robotics-Lab/betterVid

Better vid
Rehab-Robotics-Lab · Feb 1, 2020 · d532d24 · d532d24
2 parents 18e5db0 + 0f59fea
commit d532d24
Showing 1 changed file with 18 additions and 9 deletions.
diff --git a/flo_telepresence/launch/realsense.launch b/flo_telepresence/launch/realsense.launch
@@ -7,33 +7,32 @@
 <!--S/N 1: 904412060717-->
 <!--S/N 2: 912322061173-->
 
-  <arg name="serial_no_upper"           value="904412060717"/>
-  <arg name="serial_no_lower"           value="912322061173"/>
+  <arg name="serial_no_lower"           value="904412060717"/>
+  <arg name="serial_no_upper"           value="912322061173"/>
 
   <arg name="depth_width"               value="1280"/>
   <arg name="depth_height"              value="720"/>
   <arg name="enable_depth"              value="true"/>
-  <arg name="depth_fps"                 value="15"/>
+  <arg name="depth_fps"                 value="30"/>
 
     <!--should be 1920:-->
   <arg name="color_width"               value="1280"/>
   <!--should be 1080:-->
   <arg name="color_height"              value="720"/>
   <arg name="enable_color"              value="true"/>
   <!--Should be 30:-->
-  <arg name="color_fps"                 value="15"/>
+  <arg name="color_fps"                 value="30"/>
 
   <arg name="align_depth"               value="false"/>
   <arg name="enable_pointcloud"         value="false"/>
 
-
-  <!--<arg name="infra_width"        default="1280"/>-->
-  <!--<arg name="infra_height"       default="720"/>-->
-  <!--<arg name="enable_infra1"       default="true"/>-->
-  <!--<arg name="enable_infra2"       default="true"/>-->
+  <arg name="enable_infra"       value="false"/>
 
   <!--<arg name="enable_sync"               default="false"/>-->
 
+  <!--This seems like a good idea, but when this is done, nothing can connect for a while:-->
+  <arg name="initial_reset"             value="false"/>
+
 
     <include file="$(find realsense2_camera)/launch/rs_camera.launch">
         <arg name="serial_no"        value="$(arg serial_no_lower)"/>
@@ -61,6 +60,11 @@
         <arg name="enable_gyro"      value="false"/>
         <arg name="enable_accel"     value="false"/>
         <arg name="enable_pose"      value="false"/>
+
+        <arg name="enable_infra1"    value="$(arg enable_infra)"/>
+        <arg name="enable_infra2"    value="$(arg enable_infra)"/>
+
+        <arg name="initial_reset"    value="$(arg initial_reset)"/>
     </include>
 
     <group ns="lower_realsense/color">
@@ -96,6 +100,11 @@
         <arg name="enable_gyro"      value="false"/>
         <arg name="enable_accel"     value="false"/>
         <arg name="enable_pose"      value="false"/>
+
+        <arg name="enable_infra1"    value="$(arg enable_infra)"/>
+        <arg name="enable_infra2"    value="$(arg enable_infra)"/>
+
+        <arg name="initial_reset"    value="$(arg initial_reset)"/>
     </include>
     <group ns="upper_realsense/color">
     <node pkg="nodelet" type="nodelet"