Skip to content

[jsk_pr2_startup] Set png_level of compressedDepth #1932

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Kanazawanaoaki wants to merge 1 commit into
base: develop/pr2-noetic
Choose a base branch
from
Open

[jsk_pr2_startup] Set png_level of compressedDepth #1932

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
59 changes: 59 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/config/pr2_png_level.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,59 @@
# Check each node png_level by the following command
# for f in $(rosparam list | grep png_level); do echo "$f: $(rosparam get $f)"; done

# Set png_level to 5 according to the following information
# https://github.com/start-jsk/jsk_apc/pull/2706
# https://gist.github.com/iory/12dda33908024223be74cb03f19997b5

kinect_head:
depth:
image:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_rect:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_rect_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
depth_registered:
hw_registered:
image_rect:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_rect_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
image_raw:
disable_pub_plugins:
- 'image_transport/compressed'
- 'image_transport/theora'
compressedDepth:
png_level: 5
2 changes: 2 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/pr2.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@
file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch" >
<arg name="monitor_driver" value="true" /> <!-- iory 2022/05/11-->
</include>
<!-- Set image compressedDepth png_leve to 5 -->
<rosparam file="$(find jsk_pr2_startup)/config/pr2_png_level.yaml" command="load"/>

<!-- logging node for PR2 -->
<include if="$(arg launch_db)"
Expand Down