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nodelet launch files

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guest 2020-09-29 12:18:06 -02:30
commit d532d5fe2e
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34
video-daylight-nodelet.launch
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<launch>
<!-- <arg name="DEVICE" default="/dev/video0"/> -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
<arg name="width" default="320" /> <!-- Image Width -->
<arg name="height" default="240" /> <!-- Image Height -->
<arg name="fps" default="20" /> <!-- Desired framerate -->
<!-- Make arguments available to parameter server -->
<param name="image_width" type="int" value="$(arg width)" />
<param name="image_height" type="int" value="$(arg height)" />
<param name="target_fps" type="int" value="$(arg fps)" />
<node pkg="nodelet" type="nodelet"
name="standalone_nodelet" args="manager"
output="screen"/>
<node pkg="nodelet" type="nodelet"
name="GSCamNodelet"
args="load gscam/GSCamNodelet standalone_nodelet"
output="screen">
<param name="camera_name" value="left"/>
<param name="camera_info_url" value="package://jetson_csi_cam/left_320x240.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="left_link"/>
<param name="sync_sink" value="true"/>
<param name="left/image_width" type="int" value="$(arg width)" />
<param name="left/image_height" type="int" value="$(arg height)" />
<param name="left/target_fps" type="int" value="$(arg fps)" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
</node>
</launch>

28
video-daylight-nodelet_pipeline.launch
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<launch>
<!-- start the driver in a camera_nodelet_manager process -->
<include file="$(find jetson_csi_cam)/video-daylight-nodelet.launch" >
</include>
<!-- Bayer color decoding -->
<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
args="load image_proc/debayer camera_nodelet_manager">
<remap from="image_raw" to="left/image_raw" />
<remap from="camera_info" to="left/camera_info" />
</node>
<!-- mono rectification -->
<node pkg="nodelet" type="nodelet" name="image_proc_rect"
args="load image_proc/rectify camera_nodelet_manager">
<remap from="image_raw" to="left/image_raw" />
<remap from="camera_info" to="left/camera_info" />
</node>
<!-- color rectification -->
<node pkg="nodelet" type="nodelet" name="image_proc_rect_color"
args="load image_proc/rectify camera_nodelet_manager">
<remap from="image_raw" to="left/image_raw" />
<remap from="camera_info" to="left/camera_info" />
</node>
</launch>