natnet_ros.launch

<?xml version="1.0"?>
<launch>

  <!-- LOGGING -->
  <arg name="log_internals" default="false"/>
  <arg name="log_frames" default="false"/>
  <arg name="log_latencies" default="false"/>

  <!-- CONNECTION -->
  <arg name="serverIP" default="192.168.0.145"/>
  <arg name="clientIP" default="192.168.0.80"/>
  <arg name="serverType" default="multicast"/>
  <arg name="multicastAddress" default="239.255.42.99"/>
  <arg name="serverCommandPort" default="1510"/>
  <arg name="serverDataPort" default="1511"/>
  <arg name="globalFrame" default="base"/>

  <!-- PUBLISHING -->
  <!-- To publish the frame of rigid body -->
  <arg name="pub_rigid_body" default="true"/> 
  <!-- To publish the individual (unlabeled) markers along with the (labeled) markers of the rigid bodies -->
  <!-- keep pub_rigid_body to true to publish the markers of the rigidbody -->
  <arg name="pub_rigid_body_marker" default="true"/>  
  <!-- To publish markers as rigidbodies and track them, make the required changes in the config/initiate.yaml -->
  <arg name="pub_individual_marker" default="true"/>
  <!-- To publish all the unlabeled markers as point cloud -->
  <arg name="pub_pointcloud" default="false"/>

  <!-- CONFIG FILE -->
  <arg name="conf_file" default="config.yaml"/>

  <!-- CONNECTION -->
  <group ns="conn_params">
    <param name="serverIP" value="$(arg serverIP)" type="str"/>
    <param name="clientIP" value="$(arg clientIP)" type="str"/>
    <param name="serverType" value="$(arg serverType)" type="str"/>
    <param name="multicastAddress" value="$(arg multicastAddress)" type="str"/>
    <param name="serverCommandPort" value="$(arg serverCommandPort)" type="int"/>
    <param name="serverDataPort" value="$(arg serverDataPort)" type="int"/>
    <param name="globalFrame" value="$(arg globalFrame)" type="str"/>
  </group>

  <node pkg="natnet_ros_cpp" type="natnet_ros_cpp" name="natnet_ros" output="screen">
    <!-- CONFIG-FILE -->
    <rosparam file="$(arg conf_file)"/>   
  
    <!-- LOGGING -->
    <param name="log_internals" value="$(arg log_internals)" type="bool"/>
    <param name="log_frames" value="$(arg log_frames)" type="bool"/>
    <param name="log_latencies" value="$(arg log_latencies)" type="bool"/>

    <!-- PUBLISHING -->
    <param name="pub_rigid_body" value="$(arg pub_rigid_body)" type="bool"/>
    <param name="pub_rigid_body_marker" value="$(arg pub_rigid_body_marker)" type="bool"/>
    <param name="pub_individual_marker" value="$(arg pub_individual_marker)" type="bool"/>
    <param name="pub_pointcloud" value="$(arg pub_pointcloud)" type="bool"/>
  </node>

  
</launch>