5.1.2.5. op3_bringup.launch

<?xml version="1.0" ?>
<launch>        
  <!-- OP3 Manager -->
  <include file="$(find op3_manager)/launch/op3_manager.launch" />

  <!-- UVC camera -->
  <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
    <param name="video_device" type="string" value="/dev/video0" />
    <param name="image_width" type="int" value="1280" />
    <param name="image_height" type="int" value="720" />
    <param name="framerate " type="int" value="30" />
    <param name="camera_frame_id" type="string" value="cam_link" />
    <param name="camera_name" type="string" value="camera" />
  </node>
</launch>

• op3_manager : 用來控制 ROBOTIS-OP3 的框架

  • Robot file : op3_manager/config/OP3.robot

  • Joint initialize 關節初始檔 : op3_manager/config/dxl_init_OP3.yaml

  • Offset 偏移檔 : op3_manager/config/offset.yaml

• usb_cam_node : ROBOTIS-OP3 USB 攝影機的套件