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<!--
Launcher for basic stereo camera which publishes images
-->
<launch>
<!-- Machine settings. See http://www.ros.org/wiki/roslaunch/XML/machine -->
<!--machine name="local_alt" address="localhost" default="true" /-->
<!-- stereocamera -->
<node pkg="minorucam" type="minorucam" name="minorucam"
respawn="true"
output="screen">
<remap from="laserscan" to="/scan"/>
<!-- left camera device -->
<param name="dev_left" value="/dev/video1" />
<!-- right camera device -->
<param name="dev_right" value="/dev/video0" />
<!-- Calibration -->
<param name="calibration_filename" value="/home/pi/calibration_640.txt" />
<!-- image width -->
<param name="width" value="640" />
<!-- image height -->
<param name="cam_height" value="480" />
<param name="height" value="100" />
<!-- Frames per second -->
<param name="fps" value="30" />
<!-- Exposure [10 x milliseconds] (0 = automatic). IN MANUAL MODE, SETTING DOESN'T WORK!-->
<param name="exposure" value="1" />
<!-- Flip the left image -->
<param name="flip_left" value="false" />
<!-- Flip the right image -->
<param name="flip_right" value="false" />
<!-- Enable histogram equalization -->
<param name="hist_equal" value="false" />
<!-- Enable profiling -->
<param name="profiling" value="false" />
<!-- Suspend stereo if turning too fast -->
<param name="turn_speed_limit" value="0.2" />
<!-- Enable publishing raw left image -->
<param name="pub_image" value="false" />
<!-- Enable publishing disparity image -->
<param name="pub_disparity" value="false" />
<!-- Enable publishing pointcloud -->
<param name="pub_cloud" value="false" />
<param name="cloud_range_max" value="5" />
<!-- Laser scan parameters -->
<param name="pub_laser" value="true" />
<param name="scan_range_min" value="0.01" />
<param name="scan_range_max" value="4" />
<param name="scan_range_def_infinity" value="true" />
<param name="scan_height_min" value="-30" />
<param name="scan_height_max" value="30" />
</node>
</launch>