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<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>
<node name="local_image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
<remap from="image" to="/usb_cam/image_raw"/>
</node>
<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen" args="_image_transport:=compressed">
<remap from="image" to="/camera/image" />
</node>
<sphinxdoc><![CDATA[
.. image:: launch/images/image1.png
:width: 200
This application communicates the camera image on the PC with the camera image on the android.
(PC)
1. start up roscore
2. launch usb_cam.launch
(android)
3. put ROS_MASTER_URI into the text box
4. push OK button
.. image:: launch/images/image3.png
:width: 400
(android)
5. tap the screen to change in/out camera
please download from `this URL <http://play.google.com/store/apps/details?id=org.ros.android.android_camera_viewer&feature=search_result#?t=W251bGwsMSwxLDEsIm9yZy5yb3MuYW5kcm9pZC5hbmRyb2lkX2NhbWVyYV92aWV3ZXIiXQ..>`_
]]></sphinxdoc>
</launch>
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