From fd030b3e47c6c86acfb0ce0a3b2c47fb690f3fbc Mon Sep 17 00:00:00 2001
From: guest <guest@spirirobotics.com>
Date: Thu, 24 Sep 2020 14:23:14 -0230
Subject: [PATCH] Ros gscam nodelet launch file

---
 video-daylight-nodelet.launch | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 video-daylight-nodelet.launch

diff --git a/video-daylight-nodelet.launch b/video-daylight-nodelet.launch
new file mode 100644
index 0000000..5fbf2a3
--- /dev/null
+++ b/video-daylight-nodelet.launch
@@ -0,0 +1,32 @@
+ 
+<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>