elp_stereo_camera.launch

<?xml version="1.0"?>

<launch>
  <arg name="CAMERA_NAME" default="elp" />
  <arg name="LEFT_DEVICE" default="/dev/elp_left" />
  <arg name="RIGHT_DEVICE" default="/dev/elp_right" />
  <arg name="LEFT_INFO_URL" value="package://elp_stereo_camera/calibration/elp_left.yaml" />
  <arg name="RIGHT_INFO_URL" value="package://elp_stereo_camera/calibration/elp_right.yaml" />
  <arg name="WIDTH" default="1280" />
  <arg name="HEIGHT" default="720" />
  <arg name="FRAMERATE" default="15" />

  <!-- start the left camera -->
  <node respawn="true" pkg="usb_cam" type="usb_cam_node" name="left" ns="$(arg CAMERA_NAME)">
    <param name="video_device" value="$(arg LEFT_DEVICE)" type="string"/>
    <param name="pixel_format" value="mjpeg" type="string"/>
    <param name="image_width" value="$(arg WIDTH)" type="int"/>
    <param name="image_height" value="$(arg HEIGHT)" type="int"/>
    <param name="framerate" value="$(arg FRAMERATE)" type="int"/>

    <param name="camera_name" value="$(arg CAMERA_NAME)_left" type="string"/>
    <param name="camera_frame_id" value="$(arg CAMERA_NAME)_left_optical_frame" type="string"/>
    <param name="camera_info_url" value="$(arg LEFT_INFO_URL)" />
  </node>

  <!-- start the right camera -->
  <node respawn="true" pkg="usb_cam" type="usb_cam_node" name="right" ns="$(arg CAMERA_NAME)">
    <param name="video_device" value="$(arg RIGHT_DEVICE)" type="string"/>
    <param name="pixel_format" value="mjpeg" type="string"/>
    <param name="image_width" value="$(arg WIDTH)" type="int"/>
    <param name="image_height" value="$(arg HEIGHT)" type="int"/>
    <param name="framerate" value="$(arg FRAMERATE)" type="int"/>

    <param name="camera_name" value="$(arg CAMERA_NAME)_right" type="string"/>
    <param name="camera_frame_id" value="$(arg CAMERA_NAME)_right_optical_frame" type="string"/>
    <param name="camera_info_url" value="$(arg RIGHT_INFO_URL)" />
  </node>
</launch>