Launch File Definition

<!--
Starts the Mayfield depth sensor bridge
-->

<launch>
  <arg name="replay_file" default=""/>
  <arg name="ignore_cliff_count" default="1"/>

  <node name="depthscan" pkg="depthscan" type="depthscan" respawn="true" respawn_delay="5">
    <param name="replay_file" value="$(arg replay_file)"/>
    <param name="ignore_cliff_count" value="$(arg ignore_cliff_count)"/>
  </node>

</launch>

Arguments

replay_file

Used to feed in saved protobuf files

ignore_cliff_count

Number of (potentially false-positive) cliffs to ignore before broadcasting on /depthscan/front_cliff

ROS Node

depthscan