3D-LiDAR（Livox：HAP）とカメラのセンサーフュージョン

<?xml version="1.0"?>
<!--Sensor Fusion-->                
<launch>
<arg name="rviz_enable" default="true"/>

<!--tf-->
<node pkg="tf" type="static_transform_publisher" name="livox2camera_link"
args="-0.15 0 0.25 -1.571 0.0 -1.571 livox_frame head_camera 100" />

<!--velodyne-->
<!--include file="$(find velodyne_pointcloud)/launch/32e_points.launch" /-->
<!--Livox-->
<include file="$(find livox_ros_driver2)/launch_ROS1/rviz_HAP.launch" />

<!--USB camera-->
<node name="head_camera" pkg="usb_cam" type="usb_cam_node">
<param name="camera_info_url" value="file://$(find livox_camera_calibration)/config/camera.yaml"/>
<param name="pixel_format" value="yuyv" />
<param name="image_width" value="640" />
<param name="image_hight" value="480" />
</node>

<!--image_proc-->
<node name="image_proc" pkg="image_proc" type="image_proc" output="screen">
<remap from="/camera_info" to="/head_camera/camera_info" />
<remap from="/image_raw" to="/head_camera/image_raw" />
<remap from="/image_rect_color" to="/head_camera/image_rect_color" />
</node>

<!--sensor fusion-->
<node pkg="livox_camera_calibration" type="sensor_fusion" name="sensor_fusion">
<remap from="/image" to="/head_camera/image_rect_color" />
<remap from="/cinfo" to="/head_camera/camera_info" />
<remap from="/lidar" to="/livox/lidar" />
<remap from="/colored_cloud" to="/livox_points/colored" />
<remap from="/projection" to="/head_camera/projection" />
</node>

<!--rviz-->
<group if="$(arg rviz_enable)">
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find livox_camera_calibration)/config/sensor_fusion.rviz"/>
</group>

<!--rosbag play-->
<!--node pkg="rosbag" type="play" name="play" args="$(find velodyne_camera_calibration)/bagfiles/data.bag" /-->
</launch>