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What's the differences between the packages openni_camera and openni_launch?

asked 2012-02-26 03:58:42 -0600

Mchaiiann gravatar image

updated 2016-10-24 09:00:09 -0600

ngrennan gravatar image

There are 2 launch files kinect_frames.launch and openni_node.launch and 1 node openni_node in the openni_camera package.

And for openi_launch package, there are several launch files

depth.launch             device.launch            kinect_frames.launch     rgb.launch               
depth_registered.launch  ir.launch                openni.launch

and no nodes.

I'm wondering the differences between openni_camera/openni_node.launch and openni_launch/openni.launch.

And what are the other launch files such as depth.launch and device.launch in openni_launch package for? How do I use them?

Thanks for answering.

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answered 2012-02-27 10:22:39 -0600

openni_camera contains the driver for the OpenNI devices. The functionality is broken up into nodelets, individually responsible for publishing and processing various pieces of data.

openni_launch is just a convenience package, providing launch files for the openni_camera nodelets.

There are two high-level launch files.

  • openni.launch brings up all the launch files for the nodelets.
  • openni_node.launch brings up the system in a node instead of nodelets.

The rest of the launch files are just building blocks - you can use them to bring up the system in a distributed manner, or if you're only interested in partial data.

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Asked: 2012-02-26 03:58:42 -0600

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Last updated: Feb 27 '12