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39 lines
2.2 KiB
XML
Executable File
39 lines
2.2 KiB
XML
Executable File
<launch>
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<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
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<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
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<!-- article about camera setup: https://clever.coex.tech/camera_frame -->
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<!-- camera is oriented downward, camera cable goes backward [option 1] -->
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
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<!-- camera is oriented downward, camera cable goes forward [option 2] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
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<!-- camera is oriented upward, camera cable goes backward [option 3] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
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<!-- camera is oriented upward, camera cable goes forward [option 4] -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
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<!-- camera node -->
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<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="camera_info_url" value="file://$(find clever)/camera_info/calibration.yaml"/>
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<param name="rate" value="100"/> <!-- poll rate -->
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<param name="cv_cap_prop_fps" value="20"/> <!-- camera FPS -->
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<param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
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<param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
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<!-- camera resolution, NOTE: camera_info file should match it -->
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<param name="image_width" value="480"/>
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<param name="image_height" value="360"/>
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</node>
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<!-- camera visualization markers -->
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<node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
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<param name="scale" value="3.0"/>
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</node>
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</launch>
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