tweak OAK-D config

biodigitalmatter · Aug 21, 2024 · 0252e37 · 0252e37
1 parent b4dd825
commit 0252e37
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diff --git a/config/OAK-D.yaml b/config/OAK-D.yaml
@@ -1,7 +1,6 @@
 /rgbd_camera:
   camera_i_enable_imu: false
   camera_i_nn_type: none
-  left_i_publish_topic: true
   stereo_i_align_depth: true
   stereo_i_output_disparity: true
   stereo_i_publish_synced_rect_pair: true

diff --git a/launch/rgbd.launch b/launch/rgbd.launch
@@ -59,20 +59,6 @@
         <arg name="depth_registered_pub" default="$(arg name)" />
     </include>
 
-    <!-- group ns="$(arg name)/rgb/image_raw">
-        <rosparam param="disable_pub_plugins"> 
-            - 'image_transport/compressedDepth'
-            - 'image_transport/theora' 
-        </rosparam>
-    </group -->
-
-    <!-- group ns="$(arg name)/stereo/image_raw">
-        <rosparam param="disable_pub_plugins"> 
-            - 'image_transport/compressedDepth' 
-            - 'image_transport/theora' 
-        </rosparam>
-    </group -->
-
     <include file="$(dirname)/rgbd_mapping.launch" unless="$(arg no_mapping)">
         <arg name="name" value="$(arg name)" />
         <arg name="rectify_rgb" value="$(arg rectify_rgb)" />

diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
@@ -23,15 +23,6 @@
         <remap from="image_rect" to="$(arg name)/rgb/image_rect" />
     </node>
 
-    <node
-        pkg="nodelet"
-        type="nodelet"
-        name="rectify_left"
-        args="load image_proc/rectify $(arg rgbd_mapping_nodelet_manager)">
-        <remap from="image_mono" to="$(arg name)/left/image_raw" />
-        <remap from="image_rect" to="$(arg name)/left/image_rect" />
-    </node>
-
     <!-- TODO: Why is this not needed? -->
     <!-- node pkg="nodelet" type="nodelet" name="rectify_stereo"
         args="load image_proc/rectify $(arg  name)_nodelet_manager">