servo_glimpse.launch

<!--
  Launcher for servo glimpse
  This requires:
      Phidgets advanced servo controller
      Pan servo connected to servo 0
      Tilt servo connected to servo 1
  -->
<launch>
    <!-- Machine settings. See http://www.ros.org/wiki/roslaunch/XML/machine -->
    <machine name="local_alt" address="localhost" default="true" />
    <!-- phidgets advanced servo controller -->
    <node pkg="phidgets" type="advanced_servo" name="advanced_servo" respawn="true">
        <!-- phidget device serial number -->
        <param name="serial" value="-1" />
    </node>
    <!-- glimpse -->
    <node pkg="phidgets" type="servo_glimpse" name="servo_glimpse" respawn="false" output="screen">
        <!--  -->
        <param name="enable" value="true" />
        <!-- Speed of movement -->
        <param name="speed" value="80" />
        <!-- Acceleration of movement -->
        <param name="acceleration" value="80" />
        <!-- Deadband -->
        <param name="deadband" value="0.1" />
        <!-- Pan servo index -->
        <param name="servoindex0" value="0" />
        <!-- Tilt servo index -->
        <param name="servoindex1" value="1" />

        <!-- Head pan and tilt joints within the URDF model -->
        <param name="panjoint" value="joint_head_pan" />
        <param name="tiltjoint" value="joint_head_tilt" />

        <!-- Pan servo position 0 -->
        <param name="servo0pos0" value="180" />
        <!-- Pan servo angle 0 (degrees) -->
        <param name="servo0angle0" value="-50" />
        <!-- Pan servo position 1 -->
        <param name="servo0pos1" value="74" />
        <!-- Pan servo angle 1 (degrees) -->
        <param name="servo0angle1" value="50" />

        <!-- Tilt servo position 0 -->
        <param name="servo1pos0" value="127" />
        <!-- Tilt servo angle 0 (degrees) -->
        <param name="servo1angle0" value="0" />
        <!-- Tilt servo position 1 -->
        <param name="servo1pos1" value="180" />
        <!-- Tilt servo angle 1 (degrees) -->
        <param name="servo1angle1" value="35" />

        <!-- Tilt servo rear camera position 0 -->
        <param name="servo2pos0" value="127" />
        <!-- Tilt servo rear camera angle 0 (degrees) -->
        <param name="servo2angle0" value="0" />
        <!-- Tilt servo rear camera position 1 -->
        <param name="servo2pos1" value="180" />
        <!-- Tilt servo rear camera angle 1 (degrees) -->
        <param name="servo2angle1" value="35" />

        <!-- Minimum pan angle (degrees) -->
        <param name="minpanangle" value="-45" />
        <!-- Maximum pan angle (degrees) -->
        <param name="maxpanangle" value="45" />

        <!-- Minimum tilt angle (degrees) -->
        <param name="mintiltangle" value="0" />
        <!-- Maximum tilt angle (degrees) -->
        <param name="maxtiltangle" value="35" />

        <!-- Pan Steps -->
        <param name="pansteps" value="3" />
        <!-- Tilt Steps -->
        <param name="tiltsteps" value="2" />

        <!-- Forward translation of the camera relative to the pan servo centre in millimetres -->
        <param name="forward" value="90" />

        <!-- vertical translation of the camera relative to the pan servo centre in millimetres -->
        <param name="vertical" value="0" />

        <!-- Glimpse time in seconds -->
        <param name="glimpsetime" value="3" />

        <!-- Directory to save files to -->
        <param name="outputdirectory" value="/home/motters/develop/phidgets/glimpse/" />
        <!-- Command to run for each position -->
        <param name="glimpsecommand" value="v4l2stereo --dev0 /dev/video2 --dev1 /dev/video1 --flipleft --vcamera --equal --calibrationfile /home/motters/develop/libv4l2cam/v4l2stereo/calibration.grok2 --poserotation '%d %d 0' --posetranslation '%d %d %d' --pointcloud %sgl%d.dat" />
        <!-- If there is a second rearward pointing camera this command will be run for each position -->
        <param name="glimpsecommand2" value="" />
        <!-- Command to run after all glimpses -->
        <param name="finalcommand" value="pcloud -f %s --savex3d %sglimpse.x3d" />
        <!-- If there is a second rearward pointing camera this command will be run after all glimpses -->
        <param name="finalcommand2" value="" />

    </node>
</launch>