第三周 目前问题

[captgao]

启动导航时，界面加载和返回触控内容有问题，ROS中启动move_base节点有问题。
抓取时kinect点云相关节点启动有问题

[TechpriestW]

我觉得要打开摄像头应该只需要把下面这些代码写成一个launch文件就行了，不用把grab_app.launch整个调用起来，还可以避免重复启动节点。

<!--- Run Kinect -->
  <!--************************ kinect ************************-->
  <arg name="base_name"         default="kinect2"/>
  <arg name="sensor"            default=""/>
  <arg name="publish_tf"        default="false"/>
  <arg name="base_name_tf"      default="$(arg base_name)"/>
  <arg name="fps_limit"         default="-1.0"/>
  <arg name="calib_path"        default="$(find kinect2_bridge)/data/"/>
  <arg name="use_png"           default="false"/>
  <arg name="jpeg_quality"      default="90"/>
  <arg name="png_level"         default="1"/>
  <arg name="depth_method"      default="cpu"/><!--- default/cpu -->
  <arg name="depth_device"      default="-1"/>
  <arg name="reg_method"        default="cpu"/>
  <arg name="reg_device"        default="-1"/>
  <arg name="max_depth"         default="12.0"/>
  <arg name="min_depth"         default="0.1"/>
  <arg name="queue_size"        default="5"/>
  <arg name="bilateral_filter"  default="true"/>
  <arg name="edge_aware_filter" default="true"/>
  <arg name="worker_threads"    default="4"/>
  <arg name="machine"           default="localhost"/>
  <arg name="nodelet_manager"   default="$(arg base_name)"/>
  <arg name="start_manager"     default="true"/>
  <arg name="use_machine"       default="true"/>
  <arg name="respawn"           default="true"/>
  <arg name="use_nodelet"       default="true"/>
  <arg name="output"            default="log"/>

  <machine name="localhost" address="localhost" if="$(arg use_machine)"/>

  <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager"
        if="$(arg start_manager)" machine="$(arg machine)" />

  <!-- Nodelet version of kinect2_bridge -->
  <node pkg="nodelet" type="nodelet" name="$(arg base_name)_bridge" machine="$(arg machine)"
        args="load kinect2_bridge/kinect2_bridge_nodelet $(arg nodelet_manager)"
        respawn="$(arg respawn)" output="$(arg output)" if="$(arg use_nodelet)">
    <param name="base_name"         type="str"    value="$(arg base_name)"/>
    <param name="sensor"            type="str"    value="$(arg sensor)"/>
    <param name="publish_tf"        type="bool"   value="$(arg publish_tf)"/>
    <param name="base_name_tf"      type="str"    value="$(arg base_name_tf)"/>
    <param name="fps_limit"         type="double" value="$(arg fps_limit)"/>
    <param name="calib_path"        type="str"    value="$(arg calib_path)"/>
    <param name="use_png"           type="bool"   value="$(arg use_png)"/>
    <param name="jpeg_quality"      type="int"    value="$(arg jpeg_quality)"/>
    <param name="png_level"         type="int"    value="$(arg png_level)"/>
    <param name="depth_method"      type="str"    value="$(arg depth_method)"/>
    <param name="depth_device"      type="int"    value="$(arg depth_device)"/>
    <param name="reg_method"        type="str"    value="$(arg reg_method)"/>
    <param name="reg_device"        type="int"    value="$(arg reg_device)"/>
    <param name="max_depth"         type="double" value="$(arg max_depth)"/>
    <param name="min_depth"         type="double" value="$(arg min_depth)"/>
    <param name="queue_size"        type="int"    value="$(arg queue_size)"/>
    <param name="bilateral_filter"  type="bool"   value="$(arg bilateral_filter)"/>
    <param name="edge_aware_filter" type="bool"   value="$(arg edge_aware_filter)"/>
    <param name="worker_threads"    type="int"    value="$(arg worker_threads)"/>
  </node>

  <!-- Node version of kinect2_bridge -->
  <node pkg="kinect2_bridge" type="kinect2_bridge" name="$(arg base_name)_bridge" machine="$(arg machine)"
        respawn="$(arg respawn)" output="$(arg output)" unless="$(arg use_nodelet)">
    <param name="base_name"         type="str"    value="$(arg base_name)"/>
    <param name="sensor"            type="str"    value="$(arg sensor)"/>
    <param name="publish_tf"        type="bool"   value="$(arg publish_tf)"/>
    <param name="base_name_tf"      type="str"    value="$(arg base_name_tf)"/>
    <param name="fps_limit"         type="double" value="$(arg fps_limit)"/>
    <param name="calib_path"        type="str"    value="$(arg calib_path)"/>
    <param name="use_png"           type="bool"   value="$(arg use_png)"/>
    <param name="jpeg_quality"      type="int"    value="$(arg jpeg_quality)"/>
    <param name="png_level"         type="int"    value="$(arg png_level)"/>
    <param name="depth_method"      type="str"    value="$(arg depth_method)"/>
    <param name="depth_device"      type="int"    value="$(arg depth_device)"/>
    <param name="reg_method"        type="str"    value="$(arg reg_method)"/>
    <param name="reg_device"        type="int"    value="$(arg reg_device)"/>
    <param name="max_depth"         type="double" value="$(arg max_depth)"/>
    <param name="min_depth"         type="double" value="$(arg min_depth)"/>
    <param name="queue_size"        type="int"    value="$(arg queue_size)"/>
    <param name="bilateral_filter"  type="bool"   value="$(arg bilateral_filter)"/>
    <param name="edge_aware_filter" type="bool"   value="$(arg edge_aware_filter)"/>
    <param name="worker_threads"    type="int"    value="$(arg worker_threads)"/>
  </node>