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21 lines
802 B
XML
21 lines
802 B
XML
<launch>
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<arg name="DEVICE" default="/dev/video0"/>
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<!-- The GStreamer framerate needs to be an integral fraction -->
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<arg name="FPS" default="30/1"/>
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<node pkg="nodelet" type="nodelet"
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name="standalone_nodelet" args="manager"
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output="screen"/>
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<node pkg="nodelet" type="nodelet"
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name="GSCamNodelet"
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args="load gscam/GSCamNodelet standalone_nodelet"
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output="screen">
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<param name="camera_name" value="default"/>
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<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
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<param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
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<param name="frame_id" value="/v4l_frame"/>
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<param name="sync_sink" value="true"/>
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</node>
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</launch>
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