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21 lines
1019 B
XML
21 lines
1019 B
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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<!-- The GStreamer device-index needs to be an integer -->
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<arg name="DEVICE_INDEX" default="0"/>
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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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<arg name="PUBLISH_FRAME" default="false"/>
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<node ns="qtkit" name="gscam_driver_qtkit" 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" value="qtkitvideosrc device-index=$(arg DEVICE_INDEX) ! video/x-raw-yuv,framerate=$(arg FPS) ! ffmpegcolorspace"/>
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<param name="frame_id" value="/qtkit_frame"/>
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<param name="sync_sink" value="true"/>
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</node>
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<node if="$(arg PUBLISH_FRAME)" name="qtkit_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /qtkit_frame 10"/>
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</launch>
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