From f3f09cbd0a8d65ef860de25bec1b863794e835dc Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 4 Feb 2017 16:30:21 +0900
Subject: [PATCH 1/3] Nvidia_JTX1: zed camera setup download config

---
 Nvidia_JTX1/Ubuntu/7_setup_zed.sh | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/Nvidia_JTX1/Ubuntu/7_setup_zed.sh b/Nvidia_JTX1/Ubuntu/7_setup_zed.sh
index f10bd1b7..4f1cbef3 100755
--- a/Nvidia_JTX1/Ubuntu/7_setup_zed.sh
+++ b/Nvidia_JTX1/Ubuntu/7_setup_zed.sh
@@ -1,18 +1,26 @@
 #!/bin/bash
 
 # this script sets up the ZED camera
+# this should be run as the "apsync" user
 
 # store current directory
 pushd .
 
 # download install scripts from stereolabs
+mkdir -p ~/Downloads
 cd ~/Downloads
-wget --no-check-certificate https://www.stereolabs.com/download_327af3/ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
+# wget --no-check-certificate https://www.stereolabs.com/download_327af3/ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
+wget --no-check-certificate https://dl.dropboxusercontent.com/u/3852647/ZED/ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
 
 # install (user will need to press "Q"
 echo "Installing ZED camera SDK, you must manually accept the license agreement (press Y), enter root password and press enter to accept the default install directory"
 chmod +x ./ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
 ./ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
 
+# startup zed camera's Depth Viewer to force download of calibration file for this particular camera
+# this may require permissioning apsync to use the screen, "sudo xhost +SI:localuser:apsync"
+# Note: we should change this to a user runnable script to download the config for each user's camera
+/usr/local/zed/tools/ZED \ Depth\ Viewer
+
 # return to stored directory
 popd

From 7fb87045cd9bb5346176ffb532eb60a55447e853 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 4 Feb 2017 16:32:31 +0900
Subject: [PATCH 2/3] Nvidia_JTX1: rename 7_setup_zed to 9_setup_zed

---
 Nvidia_JTX1/Ubuntu/{7_setup_zed.sh => 9_setup_zed.sh} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename Nvidia_JTX1/Ubuntu/{7_setup_zed.sh => 9_setup_zed.sh} (100%)

diff --git a/Nvidia_JTX1/Ubuntu/7_setup_zed.sh b/Nvidia_JTX1/Ubuntu/9_setup_zed.sh
similarity index 100%
rename from Nvidia_JTX1/Ubuntu/7_setup_zed.sh
rename to Nvidia_JTX1/Ubuntu/9_setup_zed.sh

From 219dfaa122a7a239c543ee6b7c3a2cb716f142ef Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 4 Feb 2017 15:14:15 +0900
Subject: [PATCH 3/3] Nvidia_JTX1: add ros install scripts

---
 Nvidia_JTX1/Ubuntu/10_setup_ros.sh        |  77 +++++++++
 Nvidia_JTX1/Ubuntu/start_1_roscore.sh     |   4 +
 Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh |   6 +
 Nvidia_JTX1/Ubuntu/start_3_rosrun.sh      |   6 +
 Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh     |   9 +
 Nvidia_JTX1/Ubuntu/zed_rtabmap.launch     | 197 ++++++++++++++++++++++
 6 files changed, 299 insertions(+)
 create mode 100755 Nvidia_JTX1/Ubuntu/10_setup_ros.sh
 create mode 100755 Nvidia_JTX1/Ubuntu/start_1_roscore.sh
 create mode 100755 Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh
 create mode 100755 Nvidia_JTX1/Ubuntu/start_3_rosrun.sh
 create mode 100755 Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh
 create mode 100644 Nvidia_JTX1/Ubuntu/zed_rtabmap.launch

diff --git a/Nvidia_JTX1/Ubuntu/10_setup_ros.sh b/Nvidia_JTX1/Ubuntu/10_setup_ros.sh
new file mode 100755
index 00000000..d727f217
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/10_setup_ros.sh
@@ -0,0 +1,77 @@
+#!/bin/bash
+
+# this script should be run as the apsync user
+# these instructions come from Dan Pollock, posting can be found here: https://www.facebook.com/groups/pixhawk2/permalink/1192680427481244/
+
+set -e
+set -x
+
+pushd .
+
+# setup reference to ros packages
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-get update
+
+# install ros
+sudo apt-get install -y ros-kinetic-ros-base python-rosinstall ros-kinetic-mavros ros-kinetic-rtabmap-ros ros-kinetic-robot-state-publisher
+sudo c_rehash /etc/ssl/certs
+sudo rosdep init
+rosdep update
+
+# add environment to .bashrc
+echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+
+# install the ZED SDK using 7_setup_zed.sh
+
+# install zed-ros-wrapper
+mkdir -p ~/catkin_zed/src
+cd ~/catkin_zed/src
+git clone https://github.com/stereolabs/zed-ros-wrapper.git
+
+# create workspace
+# Note: this seems to fail because some ROS variables are not being set
+cd ~/catkin_zed/src
+/opt/ros/kinetic/bin/catkin_init_workspace
+cd ~/catkin_zed
+/opt/ros/kinetic/bin/catkin_make
+
+# kill src directory and build again
+rm -rf ~/catkin_zed/src
+mkdir -p ~/catkin_zed/src
+cd ~/catkin_zed/src
+git clone https://github.com/stereolabs/zed-ros-wrapper.git
+cd ~/catkin_zed
+/opt/ros/kinetic/bin/catkin_make
+
+popd
+
+# cp zed_rtabmap_launch file to /opt/ros/kinetic/share/rtabmap_ros/launch
+sudo cp ./zed_rtabmap.launch /opt/ros/kinetic/share/rtabmap_ros/launch
+# old instructions for above:
+#     cd to /opt/ros/kinetic/share/rtabmap_ros/launch
+#     sudo cp /opt/ros/kinetic/share/rtabmap_ros/launch/rtabmap.launch /opt/ros/kinetic/share/rtabmap_ros/launch/zed_rtabmap.launch
+#     sudo vi /opt/ros/kinetic/share/rtabmap_ros/launch/zed_rtabmap.launch
+#     replace "/camera/rgb" with "/camera/zed/rgb"
+
+# put startup scripts in place
+mkdir ~/start_ros
+cp start_1_roscore.sh ~/start_ros
+cp start_2_zed_wrapper.sh ~/start_ros
+cp start_3_rosrun.sh ~/start_ros
+cp start_4_rtabmap.sh ~/start_ros
+
+# test rosrun zed_wrapper
+# first terminal
+#     roscore
+# second terminal:
+#     export ROS_NAMESPACE=camera
+#     source ~/catkin_zed/devel/setup.bash
+#     roslaunch zed_wrapper zed.launch
+# third terminal window:
+#     export ROS_NAMESPACE=camera
+#     source ~/catkin_zed/devel/setup.bash
+#     rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100 &
+# test viewer on client
+#     roslaunch rtabmap_ros zed_rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/zed/depth/depth_registered
diff --git a/Nvidia_JTX1/Ubuntu/start_1_roscore.sh b/Nvidia_JTX1/Ubuntu/start_1_roscore.sh
new file mode 100755
index 00000000..43c07c5e
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_1_roscore.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# start roscore
+roscore
diff --git a/Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh b/Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh
new file mode 100755
index 00000000..7fabf779
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# start rosrun
+export ROS_NAMESPACE=camera
+source ~/catkin_zed/devel/setup.bash
+roslaunch zed_wrapper zed.launch
diff --git a/Nvidia_JTX1/Ubuntu/start_3_rosrun.sh b/Nvidia_JTX1/Ubuntu/start_3_rosrun.sh
new file mode 100755
index 00000000..7bc6e70e
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_3_rosrun.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# start rosrun
+export ROS_NAMESPACE=camera
+source ~/catkin_zed/devel/setup.bash
+rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100 &
diff --git a/Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh b/Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh
new file mode 100755
index 00000000..ad5c3c6a
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# override home in case this is being run from different user
+export HOME=/home/apsync
+
+# start rosrun
+export ROS_NAMESPACE=camera
+source ~/catkin_zed/devel/setup.bash
+roslaunch rtabmap_ros zed_rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/zed/depth/depth_registered
diff --git a/Nvidia_JTX1/Ubuntu/zed_rtabmap.launch b/Nvidia_JTX1/Ubuntu/zed_rtabmap.launch
new file mode 100644
index 00000000..7a482db6
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/zed_rtabmap.launch
@@ -0,0 +1,197 @@
+
+<launch>
+  <!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
+
+  <!-- For stereo:=false
+        Your RGB-D sensor should be already started with "depth_registration:=true".
+        Examples:
+           $ roslaunch freenect_launch freenect.launch depth_registration:=true 
+           $ roslaunch openni2_launch openni2.launch depth_registration:=true -->
+           
+  <!-- For stereo:=true
+        Your camera should be calibrated and publishing rectified left and right 
+        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
+        Example:
+           $ roslaunch rtabmap_ros bumblebee.launch -->
+     
+  <!-- Choose between RGB-D and stereo -->      
+  <arg name="stereo"          default="false"/>
+ 
+  <!-- Choose visualization -->
+  <arg name="rtabmapviz"              default="true" /> 
+  <arg name="rviz"                    default="false" />
+  
+  <!-- Localization-only mode -->
+  <arg name="localization"            default="false"/>
+  
+  <!-- Corresponding config files -->
+  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
+  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
+  <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
+  
+  <arg name="frame_id"                default="camera_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
+  <arg name="namespace"               default="rtabmap"/>
+  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
+  <arg name="queue_size"              default="10"/>
+  <arg name="wait_for_transform"      default="0.2"/>
+  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
+  <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
+  <arg name="approx_sync"             default="true"/>         <!-- if timestamps of the input topics are not synchronized -->
+   
+  <!-- RGB-D related topics -->
+  <arg name="rgb_topic"               default="/camera/zed/rgb/image_rect_color" />
+  <arg name="depth_topic"             default="/camera/zed/depth_registered/image_raw" />
+  <arg name="camera_info_topic"       default="/camera/zed/rgb/camera_info" />
+  
+  <!-- stereo related topics -->
+  <arg name="stereo_namespace"        default="/stereo_camera"/>
+  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
+  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
+  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
+  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
+  
+  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
+                                                                <!-- For depth_topic, "compressedDepth" image_transport is used. --> 
+                                                                <!-- For rgb_topic, see "rgb_image_transport" argument. -->
+  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
+   
+  <arg name="subscribe_scan"          default="false"/>
+  <arg name="scan_topic"              default="/scan"/>
+  
+  <arg name="subscribe_scan_cloud"    default="false"/>
+  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
+   
+  <arg name="visual_odometry"         default="true"/>          <!-- Launch rtabmap visual odometry node -->
+  <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
+  <arg name="odom_args"               default="$(arg rtabmap_args)"/>
+  
+  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
+  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
+  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
+  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
+  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>
+
+  <!-- Nodes -->
+  <group ns="$(arg namespace)">
+  
+    <!-- RGB-D Odometry -->
+    <group unless="$(arg stereo)">
+      <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
+      <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
+  
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
+        <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
+        <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
+        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+	  
+        <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
+        <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
+        <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
+        <param name="config_path"                 type="string" value="$(arg cfg)"/>
+        <param name="queue_size"                  type="int" value="$(arg queue_size)"/>
+      </node>
+    </group>
+    
+    <!-- Stereo Odometry -->
+    <group if="$(arg stereo)">
+      <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
+      <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
+  
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
+        <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
+        <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
+        <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+        <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+	  
+        <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
+        <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
+        <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
+        <param name="config_path"                 type="string" value="$(arg cfg)"/>
+        <param name="queue_size"                  type="int" value="$(arg queue_size)"/>
+      </node>
+    </group>
+  
+    <!-- Visual SLAM (robot side) -->
+    <!-- args: "delete_db_on_start" and "udebug" -->
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
+      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
+      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
+      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
+      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
+      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
+      <param name="database_path"        type="string" value="$(arg database_path)"/>
+      <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>
+      <param name="config_path"          type="string" value="$(arg cfg)"/>
+      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
+      
+      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
+      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
+      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+	
+      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+      
+      <remap from="scan"                   to="$(arg scan_topic)"/>
+      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
+      <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
+      
+      <!-- localization mode -->
+	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
+	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
+	  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
+    </node>
+  
+    <!-- Visualisation RTAB-Map -->
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
+      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
+      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
+      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
+      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
+      <param name="subscribe_odom_info"  type="bool"   value="$(arg visual_odometry)"/>
+      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
+      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
+    
+      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
+      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
+      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+      
+      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+      
+      <remap from="scan"                   to="$(arg scan_topic)"/>
+      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
+      <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
+    </node>
+  
+  </group>
+  
+  <!-- Visualization RVIZ -->
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
+  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
+    <remap from="left/image"        to="$(arg left_image_topic_relay)"/>
+    <remap from="right/image"       to="$(arg right_image_topic_relay)"/>
+    <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
+    <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
+    <remap from="rgb/image"         to="$(arg rgb_topic_relay)"/>
+    <remap from="depth/image"       to="$(arg depth_topic_relay)"/>
+    <remap from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
+    <remap from="cloud"             to="voxel_cloud" />
+
+    <param name="decimation"  type="double" value="2"/>
+    <param name="voxel_size"  type="double" value="0.02"/>
+    <param name="approx_sync" type="bool"   value="$(arg approx_sync)"/>
+  </node>
+
+</launch>