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40 lines
2.0 KiB
XML
40 lines
2.0 KiB
XML
<launch>
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<!-- This launchfile should bring up a node that broadcasts a ros image
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transport on /webcam/image_raw -->
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<arg name="LEFT_DEV" default="/dev/video0"/>
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<arg name="RIGHT_DEV" default="/dev/video1"/>
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<!-- The GStreamer framerate needs to be an integral fraction -->
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<!-- Note: Minoru can't push full 640x480 at 30fps -->
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<arg name="WIDTH" default="320"/>
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<arg name="HEIGHT" default="240"/>
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<arg name="FPS" default="30/1"/>
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<arg name="BRIGHTNESS" default="0"/>
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<arg name="PUBLISH_FRAME" default="false"/>
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<!-- Construct the v4l2src format config -->
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<arg name="FORMAT" default="video/x-raw-rgb,width=$(arg WIDTH),height=$(arg HEIGHT),framerate=$(arg FPS)"/>
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<group ns="minoru">
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<node ns="left" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
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<param name="camera_name" value="default"/>
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<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
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<param name="gscam_config"
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value="v4l2src device=$(arg LEFT_DEV) brightness=$(arg BRIGHTNESS) ! $(arg FORMAT) ! ffmpegcolorspace"/>
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<param name="frame_id" value="/minoru_left"/>
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<param name="sync_sink" value="true"/>
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</node>
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<node ns="right" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
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<param name="camera_name" value="default"/>
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<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
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<param name="gscam_config"
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value="v4l2src device=$(arg RIGHT_DEV) brightness=$(arg BRIGHTNESS) ! $(arg FORMAT) ! ffmpegcolorspace"/>
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<param name="frame_id" value="/minoru_right"/>
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<param name="sync_sink" value="true"/>
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</node>
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</group>
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<node if="$(arg PUBLISH_FRAME)" name="left_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /minoru_left 10"/>
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<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"/>
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</launch>
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