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Merge pull request #2 from ori-drs/feature/simplified
Feature/simplified
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,8 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
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| <launch> | ||
| <node pkg="vicon_bridge" type="vicon_bridge" name="vicon" output="screen"> | ||
| <param name="stream_mode" value="ClientPull" type="str" /> | ||
| <!--param name="datastream_hostport" value="192.168.0.13:801" type="str" /--> | ||
| <param name="datastream_hostport" value="vicon:801" type="str" /> | ||
| <param name="tf_ref_frame_id" value="/world" type="str" /> | ||
| </node> | ||
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| <!-- IP and port on Vicon Windows PC --> | ||
| <arg name="datastream_hostport" default="192.168.94.81:801"/> | ||
| <!-- Fixed vicon world frame --> | ||
| <arg name="vicon_world_frame" default="/vicon/world"/> | ||
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| <node pkg="vicon_bridge" type="vicon_bridge" name="vicon" output="screen" > | ||
| <param name="stream_mode" value="ServerPush"/> | ||
| <param name="datastream_hostport" value="$(arg datastream_hostport)"/> | ||
| <param name="tf_ref_frame_id" value="$(arg vicon_world_frame)"/> | ||
| </node> | ||
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| </launch> |