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22 lines
1.3 KiB
Plaintext
22 lines
1.3 KiB
Plaintext
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<launch>
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<!-- Start the image publisher -->
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<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<param name="video_device" value="/dev/video0" />
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<param name="image_width" value="640" />
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<param name="image_height" value="480" />
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<param name="pixel_format" value="yuyv" />
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<param name="camera_frame_id" value="yuyv" />
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<param name="io_method" value="mmap"/>
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<param name="autofocus" value="true"/>
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</node>
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<!-- <node pkg="ros_rtsp" name="camera_publisher" type="camera_publisher" args="0"/> -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet" output="screen">
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<param name="topic_1" type="str" value="/usb_cam/image_raw" />
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<param name="mountpoint_1" type="str" value="/front" />
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<param name="pipeline_1" type="str" value="( appsrc name=imagesrc do-timestamp=true max-latency=50 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! video/x-raw,width=800,height=640 ! videoconvert ! videorate ! video/x-raw,framerate=10/1 ! queue ! x264enc tune=zerolatency bitrate=1000 key-int-max=90 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )" />
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</node>
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</launch>
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