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Added rover catkin packages

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Corwin Perren
2017-12-03 13:46:55 -08:00
parent 9cbec88ebe
commit 08a7add471
55 changed files with 51834 additions and 0 deletions
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39
rover/gscam/examples/minoru.launch Normal file
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<launch>
<!-- This launchfile should bring up a node that broadcasts a ros image
transport on /webcam/image_raw -->
<arg name="LEFT_DEV" default="/dev/video0"/>
<arg name="RIGHT_DEV" default="/dev/video1"/>
<!-- The GStreamer framerate needs to be an integral fraction -->
<!-- Note: Minoru can't push full 640x480 at 30fps -->
<arg name="WIDTH" default="320"/>
<arg name="HEIGHT" default="240"/>
<arg name="FPS" default="30/1"/>
<arg name="BRIGHTNESS" default="0"/>
<arg name="PUBLISH_FRAME" default="false"/>
<!-- Construct the v4l2src format config -->
<arg name="FORMAT" default="video/x-raw-rgb,width=$(arg WIDTH),height=$(arg HEIGHT),framerate=$(arg FPS)"/>
<group ns="minoru">
<node ns="left" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
<param name="camera_name" value="default"/>
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
<param name="gscam_config"
value="v4l2src device=$(arg LEFT_DEV) brightness=$(arg BRIGHTNESS) ! $(arg FORMAT) ! ffmpegcolorspace"/>
<param name="frame_id" value="/minoru_left"/>
<param name="sync_sink" value="true"/>
</node>
<node ns="right" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
<param name="camera_name" value="default"/>
<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
<param name="gscam_config"
value="v4l2src device=$(arg RIGHT_DEV) brightness=$(arg BRIGHTNESS) ! $(arg FORMAT) ! ffmpegcolorspace"/>
<param name="frame_id" value="/minoru_right"/>
<param name="sync_sink" value="true"/>
</node>
</group>
<node if="$(arg PUBLISH_FRAME)" name="left_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /minoru_left 10"/>
<node if="$(arg PUBLISH_FRAME)" name="right_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /minoru_right 10"/>
</launch>