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add passthrough
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hrpsys_choreonoid_tutorials/launch/hrp2jsknts_vision_connect.launch

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@@ -43,11 +43,22 @@
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<param name="publish_depth" value="true" />
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<param name="transformed_camera_frame" value="true" />
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<remap from="depth" to="image_raw"/>
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<remap from="points" to="points_org"/>
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<rtconnect from="HRP2JSKNTS(Robot)0.rtc:HEAD_DEPTH"
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to="PointCloudROSBridge0.rtc:points" />
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<rtactivate component="PointCloudROSBridge0.rtc" />
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</node>
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<node pkg="nodelet" type="nodelet" name="pointcloud_bridge_points_passthrough" args="standalone pcl/PassThrough" ns="camera_remote/depth_registered">
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<remap from="~input" to="points_org"/>
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<remap from="~output" to="points"/>
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<rosparam>
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filter_field_name: z
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filter_limit_min: 0.5 # depth camera cannot see too close area. `frontClipDistance` cannot be used for this purpose because camera sees through within `frontClipDistance`.
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filter_limit_max: 10.0
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</rosparam>
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</node>
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<node pkg="hrpsys_choreonoid" name="ground_truth_bridge"
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type="TransformROSBridge"
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output="$(arg OUTPUT)" args="$(arg openrtm_args)" >

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