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32 lines
1.3 KiB
XML
32 lines
1.3 KiB
XML
<launch>
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<!-- Start the image publisher/s if required -->
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<!-- <node name="usb_cam0" 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 name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<param name="video_device" value="/dev/video1" />
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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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<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
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</node>
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</launch>
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