def __init__(self):
# D435 pipeline
self.pipeline, self.config = set_pipeline(["odometry"])
# Record rosbag
record_rosbag(self.config)
# publisher definition
self.set_publisher()
# create path variable
self.my_path = Path()
self.my_path.header.frame_id = 'map'
print("Start node")
def __init__(self):
# D435 pipeline
self.pipeline, self.config = set_pipeline(["color"])
# Record rosbag
record_rosbag(self.config)
# use CvBridge conversion for image
self.bridge = use_CvBridge()
# publisher definition
self.set_publisher()
# get camera info to publish
self.camera_info = get_camera_info(self.pipeline, ["color"])
print("Start node")
def __init__(self):
# D435 pipeline
self.pipeline, self.config = set_pipeline(["color", "depth"])
# Record rosbag
record_rosbag(self.config)
# publisher definition
self.set_publisher()
# get camera info to publish
self.camera_info = get_camera_info(self.pipeline, ["color", "depth"])
# use CvBridge conversion for image
self.bridge = use_CvBridge()
# variable for create and store pointcloud
self.pc, self.decimate, self.colorizer = set_pointcloud_variable()
# Align depth to rgb image
self.align = align_depth_to_color()
print("Start node")