Merge pull request #484 from 130s/impr/add_hand_camera

[hrpsys-sim] Add hand camera feature.
start-jsk · Feb 10, 2017 · 273060f · 273060f
2 parents 020b326 + acc68d8
commit 273060f
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diff --git a/hironx_ros_bridge/conf/nosim.xml.in b/hironx_ros_bridge/conf/nosim.xml.in
@@ -23,6 +23,8 @@
    <property name="outport" value="tau:JOINT_TORQUE"/>
    <property name="outport" value="CAMERA_HEAD_R:CAMERA_HEAD_R:VISION_SENSOR"/>
    <property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
    <property name="WAIST.NumOfAABB" value="1"/>
    <property name="WAIST.translation" value="0  0  0"/>
    <property name="WAIST.rotation" value="1 0 0 0"/>

diff --git a/hironx_ros_bridge/conf/xml.in b/hironx_ros_bridge/conf/xml.in
@@ -23,6 +23,8 @@
    <property name="outport" value="tau:JOINT_TORQUE"/>
    <property name="outport" value="CAMERA_HEAD_R:CAMERA_HEAD_R:VISION_SENSOR"/>
    <property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
+   <property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
    <property name="WAIST.NumOfAABB" value="1"/>
    <property name="WAIST.translation" value="0  0  0"/>
    <property name="WAIST.rotation" value="1 0 0 0"/>

diff --git a/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch b/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch
@@ -36,8 +36,20 @@
         args="$(arg openrtm_args)" ns="left" >
     <param name="frame_id" value="/CAMERA_HEAD_L" />
   </node>
+  <node pkg="hrpsys_ros_bridge" name="ImageSensorROSBridge_HandRight" type="ImageSensorROSBridge"
+        args="$(arg openrtm_args)" ns="right" >
+    <param name="frame_id" value="/CAMERA_HAND_R" />
+  </node>
+  <node pkg="hrpsys_ros_bridge" name="ImageSensorROSBridge_HandLeft" type="ImageSensorROSBridge"
+        args="$(arg openrtm_args)" ns="left" >
+    <param name="frame_id" value="/CAMERA_HAND_L" />
+  </node>
   <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HEAD_R" to="ImageSensorROSBridge_HeadRight.rtc:timedImage" />
   <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HEAD_L" to="ImageSensorROSBridge_HeadLeft.rtc:timedImage" />
+  <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HAND_R" to="ImageSensorROSBridge_HandRight.rtc:timedImage" />
+  <rtconnect from="HiroNX(Robot)0.rtc:CAMERA_HAND_L" to="ImageSensorROSBridge_HandLeft.rtc:timedImage" />
   <rtactivate component="ImageSensorROSBridge_HeadRight.rtc" />
   <rtactivate component="ImageSensorROSBridge_HeadLeft.rtc" />
+  <rtactivate component="ImageSensorROSBridge_HandRight.rtc" />
+  <rtactivate component="ImageSensorROSBridge_HandLeft.rtc" />
 </launch>