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Ros gscam nodelet launch file

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guest 2020-09-24 14:23:14 -02:30
parent fcc06a3059
commit fd030b3e47
1 changed files with 32 additions and 0 deletions
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video-daylight-nodelet.launch Normal file
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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="$(arg fps)" />
<!-- The GStreamer framerate needs to be an integral fraction -->
<arg name="FPS" default="30/1"/>
<node pkg="nodelet" type="nodelet"
name="standalone_nodelet" args="manager"
output="screen"/>
<node pkg="nodelet" type="nodelet"
name="GSCamNodelet"
args="load gscam/GSCamNodelet standalone_nodelet"
output="screen">
<param name="camera_name" value="default"/>
<param name="camera_info_url" value="package://jetson_csi_cam/uncalibrated_parameters.ini"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(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="/v4l_frame"/>
<param name="sync_sink" value="true"/>
</node>
</launch>