depth_image_proc: update launch files

ros-perception · Jan 21, 2024 · e27931b · e27931b
1 parent 3dbd2b4
commit e27931b
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Showing 6 changed files with 1 addition and 7 deletions.
diff --git a/depth_image_proc/launch/convert_metric.launch.py b/depth_image_proc/launch/convert_metric.launch.py
@@ -61,7 +61,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::ConvertMetricNode',
                     name='convert_metric_node',
                     remappings=[('image_raw', '/camera/depth/image_rect_raw'),
-                                ('camera_info', '/camera/depth/camera_info'),
                                 ('image', '/camera/depth/converted_image')]
                 ),
             ],

diff --git a/depth_image_proc/launch/crop_foremost.launch.py b/depth_image_proc/launch/crop_foremost.launch.py
@@ -60,7 +60,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::CropForemostNode',
                     name='crop_foremost_node',
                     remappings=[('image_raw', '/camera/depth/image_rect_raw'),
-                                ('camera_info', '/camera/depth/camera_info'),
                                 ('image', '/camera/depth/converted_image')]
                 ),
             ],

diff --git a/depth_image_proc/launch/point_cloud_xyz.launch.py b/depth_image_proc/launch/point_cloud_xyz.launch.py
@@ -61,7 +61,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::PointCloudXyzNode',
                     name='point_cloud_xyz_node',
                     remappings=[('image_rect', '/camera/depth/image_rect_raw'),
-                                ('camera_info', '/camera/depth/camera_info'),
                                 ('image', '/camera/depth/converted_image')]
                 ),
             ],

diff --git a/depth_image_proc/launch/point_cloud_xyzi.launch.py b/depth_image_proc/launch/point_cloud_xyzi.launch.py
@@ -63,7 +63,6 @@ def generate_launch_description():
                     name='point_cloud_xyzi',
                     remappings=[('depth/image_rect', '/camera/aligned_depth_to_color/image_raw'),
                                 ('intensity/image_rect', '/camera/color/image_raw'),
-                                ('intensity/camera_info', '/camera/color/camera_info'),
                                 ('points', '/camera/depth/points')]
                 ),
             ],

diff --git a/depth_image_proc/launch/point_cloud_xyzrgb.launch.py b/depth_image_proc/launch/point_cloud_xyzrgb.launch.py
@@ -60,8 +60,7 @@ def generate_launch_description():
                     package='depth_image_proc',
                     plugin='depth_image_proc::PointCloudXyzrgbNode',
                     name='point_cloud_xyzrgb_node',
-                    remappings=[('rgb/camera_info', '/camera/color/camera_info'),
-                                ('rgb/image_rect_color', '/camera/color/image_raw'),
+                    remappings=[('rgb/image_rect_color', '/camera/color/image_raw'),
                                 ('depth_registered/image_rect',
                                  '/camera/aligned_depth_to_color/image_raw'),
                                 ('points', '/camera/depth_registered/points')]

diff --git a/depth_image_proc/launch/register.launch.py b/depth_image_proc/launch/register.launch.py
@@ -61,7 +61,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::RegisterNode',
                     name='register_node',
                     remappings=[('depth/image_rect', '/camera/depth/image_rect_raw'),
-                                ('depth/camera_info', '/camera/depth/camera_info'),
                                 ('rgb/camera_info', '/camera/color/camera_info'),
                                 ('depth_registered/image_rect',
                                  '/camera/depth_registered/image_rect'),