From 47a57d263124956fdbb4e61928b6851b766d44d7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 13 Dec 2017 21:18:57 +0300
Subject: [PATCH] Increase bottom camera FPS

---
 clever/launch/bottom_camera.launch | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch
index 81f50599..73748782 100644
--- a/clever/launch/bottom_camera.launch
+++ b/clever/launch/bottom_camera.launch
@@ -11,11 +11,10 @@
     <node pkg="nodelet" type="nodelet" name="bottom_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
         <param name="frame_id" value="bottom_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
-        <param name="rate" value="30"/>
 
-        <!-- for bigger FPS use: -->
-        <!--<param name="rate" value="60"/>-->
-        <!--<param name="cv_cap_prop_fps" value="60"/>-->
+        <!-- setting camera FPS -->
+        <param name="rate" value="40"/>
+        <param name="cv_cap_prop_fps" value="40"/>
 
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>