• multisense.launch
  • • show_rviz [default: false] — Launch an RViz window to visualize the camera data
    • rviz_config [default: $(find multisense_bringup)/rviz_config.rviz] — Configuration file to launch RViz with
    • ip_address [default: 10.66.171.21] — IP address of the multisense being connected to
    • namespace [default: multisense] — Namespace for all topics for this multisense instance
    • mtu [default: 1500] — The maximum packet size that image data will be broken into when sent from the multisense. Setting to values above network adapter MTU will block image data from camera
    • sensor [default: S30] — The camera type. Used to determine the URDF model that will be loaded. Options: SL, S7, S7S, S21, KS21, KS21i, S21B, S27, S30, BCAM, remote_head_vpb, remote_head_stereo, remote_head_mono
    • head_id [default: -1] — Head ID to be used when connecting to remote head cameras. -1 for VPB or traditional MultiSense cameras
    • launch_robot_state_publisher [default: true] — Set true to launch the state publisher
    • launch_color_laser_publisher [default: false] — Set true to launch the laser colorization publisher for SL cameras
    • nodes_prefix [default: $(arg namespace)] — Prefix used for naming the nodes on launch
    • tf_prefix [default: $(arg namespace)] — Prefix used for transform names
    • camera_timeout_s [default: -1] — Camera driver will shut down if it does not hear from the camera after this many seconds. (Disabled when <=0. Values <3 may result in false positives)
    • respawn [default: false] — Respawn the multisense node if the camera disconnects
• remote_head.launch
  • • ip_address [default: 10.66.171.21] — IP address of the multisense being connected to
    • mtu [default: 7200] — The maximum packet size that image data will be broken into when sent from the multisense. Setting to values above network adapter MTU will block image data from camera
    • launch_vpb [default: true] — Set to false to prevent launching a multisense driver instance for VPB
    • launch_head0 [default: true] — Set to false to prevent launching a multisense driver instance for remote head channel 0
    • launch_head1 [default: true] — Set to false to prevent launching a multisense driver instance for remote head channel 1
    • launch_head2 [default: true] — Set to false to prevent launching a multisense driver instance for remote head channel 2
    • launch_head3 [default: true] — Set to false to prevent launching a multisense driver instance for remote head channel 3
    • vpb_namespace [default: multisense_vpb]
    • head0_namespace [default: remote_head_0]
    • head1_namespace [default: remote_head_1]
    • head2_namespace [default: remote_head_2]
    • head3_namespace [default: remote_head_3]
    • vpb_sensor [default: remote_head_vpb] — VPB Sensor type, should always be remote_head_vpb
    • head0_sensor [default: remote_head_stereo] — Remote head 0 sensor type. Options: remote_head_stereo, remote_head_monocam
    • head1_sensor [default: remote_head_stereo] — Remote head 1 sensor type. Options: remote_head_stereo, remote_head_monocam
    • head2_sensor [default: remote_head_stereo] — Remote head 2 sensor type. Options: remote_head_stereo, remote_head_monocam
    • head3_sensor [default: remote_head_stereo] — Remote head 3 sensor type. Options: remote_head_stereo, remote_head_monocam
    • vpb_nodes_prefix [default: $(arg vpb_namespace)]
    • head0_nodes_prefix [default: $(arg head0_namespace)]
    • head1_nodes_prefix [default: $(arg head1_namespace)]
    • head2_nodes_prefix [default: $(arg head2_namespace)]
    • head3_nodes_prefix [default: $(arg head3_namespace)]
    • vpb_tf_prefix [default: $(arg vpb_namespace)]
    • head0_tf_prefix [default: $(arg head0_namespace)]
    • head1_tf_prefix [default: $(arg head1_namespace)]
    • head2_tf_prefix [default: $(arg head2_namespace)]
    • head3_tf_prefix [default: $(arg head3_namespace)]
    • launch_robot_state_publisher [default: true]
    • camera_timeout_s [default: -1] — Camera driver will shut down if it does not hear from the camera after this many seconds. (Disabled when <=0. Values <3 may result in false positives)
    • respawn [default: false] — Respawn the multisense node if the camera disconnects

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