diff --git a/launch/fish_eye_camera.launch b/launch/fish_eye_camera.launch index 92b5c0782d65e53d4c266c1d63bb9ee66e58e23a..d73baabf5f8797e07beea16edaf4666440f8e9b7 100644 --- a/launch/fish_eye_camera.launch +++ b/launch/fish_eye_camera.launch @@ -1,26 +1,29 @@ <?xml version="1.0"?> <launch> - <arg name="dev" default="/dev/video0"/> - <arg name="w" default="640"/> <!-- 1024 , 640 --> - <arg name="h" default="480"/> <!-- 768 , 480 --> - <arg name="camera_info_url" default="$(find iri_visual_gps)/calibration/head_camera_$(arg w)x$(arg h).yaml"/> - <arg name="exposure" default="15"/> - <arg name="white_balance" default="4000"/> - - <node name="usb_cam" - pkg ="usb_cam" - type="usb_cam_node" - output="screen" > - <param name="video_device" value="$(arg dev)" /> - <param name="image_width" value="$(arg w)" /> - <param name="image_height" value="$(arg h)" /> - <param name="pixel_format" value="yuyv" /> + <arg name="node_name" default="usb_cam"/> + <arg name="dev" default="/dev/video0"/> + <arg name="w" default="640"/> <!-- 1024 , 640 --> + <arg name="h" default="480"/> <!-- 768 , 480 --> + <arg name="camera_info_url" default="$(find iri_visual_gps)/calibration/head_camera_$(arg w)x$(arg h).yaml"/> + <arg name="autoexposure" default="false"/> + <arg name="exposure" default="15"/> + <arg name="auto_white_balance" default="false"/> + <arg name="white_balance" default="4000"/> + + <node name="$(arg node_name)" + pkg ="usb_cam" + type="usb_cam_node" + output="screen" > + <param name="video_device" value="$(arg dev)" /> + <param name="image_width" value="$(arg w)" /> + <param name="image_height" value="$(arg h)" /> + <param name="pixel_format" value="yuyv" /> <param name="camera_frame_id" value="usb_cam" /> - <param name="io_method" value="mmap"/> + <param name="io_method" value="mmap"/> <param name="camera_info_url" value="file://$(arg camera_info_url)"/> - <param name="autoexposure" value="false"/> + <param name="autoexposure" value="$(arg autoexposure)"/> <param name="exposure" value="$(arg exposure)"/> - <param name="auto_white_balance" value="false"/> + <param name="auto_white_balance" value="$(arg auto_white_balance"/> <param name="white_balance" value="$(arg white_balance)"/> </node>