mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 10:11:14 +00:00
21 lines
913 B
XML
21 lines
913 B
XML
<launch>
|
|
<!-- This launchfile should bring up a node that broadcasts a ros image
|
|
transport on /webcam/image_raw -->
|
|
|
|
<arg name="DEVICE" default="/dev/video0"/>
|
|
<!-- The GStreamer framerate needs to be an integral fraction -->
|
|
<arg name="FPS" default="30/1"/>
|
|
<arg name="PUBLISH_FRAME" default="false"/>
|
|
|
|
<node ns="v4l" 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 do-timestamp=true is-live=true ! video/x-raw-yuv ! jpegenc ! multipartmux ! multipartdemux ! jpegparse"/>
|
|
<param name="use_gst_timestamps" value="true"/>
|
|
<param name="image_encoding" value="jpeg"/>
|
|
<param name="frame_id" value="/v4l_frame"/>
|
|
<param name="sync_sink" value="true"/>
|
|
</node>
|
|
|
|
</launch>
|