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[jsk_pr2_lifelog] add time related options for rosbag_play #1893

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[jsk_pr2_lifelog] add time related options for rosbag_play #1893

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15 changes: 14 additions & 1 deletion jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/rosbag_play.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,18 @@
<arg name="gui" default="false" />
<arg name="loop_flag" value="--loop" if="$(arg loop)" />
<arg name="loop_flag" value="" unless="$(arg loop)" />
<arg name="start_time" default="0" />
<arg name="duration_time" default="0" />
<arg name="duration" default="--duration $(arg duration_time)" if="$(eval duration_time != 0)" />
<arg name="duration" default="" if="$(eval duration_time == 0)" />
<arg name="audio_play" default="false" />
<arg name="audio_device" default="" />

<arg name="RGB_CAMERA_INFO" value="/kinect_head/rgb/throttled/camera_info" />
<arg name="RGB_IMAGE" value="/kinect_head/rgb/throttled/image_rect_color" />
<arg name="NARROW_IMAGE" value="/narrow_stereo/left/image_raw" />
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Sorry, this may be my mistake, but I think /narrow_stereo/left/image_rect_color is used in pr2 subway demo

<arg name="WIDE_IMAGE" value="/wide_stereo/left/image_rect_color" />
<arg name="WIDE_CAMERA_INFO" value="/wide_stereo/left/camera_info" />
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We should add something like /narrow_stereo/left/camera_info, too.

<arg name="QUAT_RGB_CAMERA_INFO" value="/kinect_head/rgb/quater/throttled/camera_info" />
<arg name="QUAT_RGB_IMAGE" value="/kinect_head/rgb/quater/throttled/image_rect_color" />
<arg name="DEPTH_CAMERA_INFO" value="/kinect_head/depth_registered/throttled/camera_info" />
Expand All @@ -25,6 +34,10 @@
<!-- decompress -->
<node name="rgb_decompress" pkg="image_transport" type="republish"
args="compressed in:=$(arg RGB_IMAGE) raw out:=$(arg RGB_IMAGE)" />
<node name="narrow_rgb_decompress" pkg="image_transport" type="republish"
args="compressed in:=$(arg NARROW_IMAGE) raw out:=$(arg NARROW_IMAGE)" />
<node name="wide_rgb_decompress" pkg="image_transport" type="republish"
args="compressed in:=$(arg WIDE_IMAGE) raw out:=$(arg WIDE_IMAGE)" />
<node name="depth_decompress" pkg="image_transport" type="republish"
args="compressedDepth in:=$(arg DEPTH_IMAGE) raw out:=$(arg DEPTH_IMAGE)" />
<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb"
Expand Down Expand Up @@ -78,7 +91,7 @@

<!-- rosbag player -->
<node pkg="rosbag" type="play" name="rosbag_play"
args="$(arg rosbag) $(arg loop_flag) --clock" output="screen" />
args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration)" output="screen" />

<node pkg="rviz" type="rviz" name="$(anon rviz)" if="$(arg gui)"
args="-d $(find jsk_pr2_startup)/config/jsk_startup.rviz" />
Expand Down
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