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Wait for v4l2 device before launching the camera driver

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This commit is contained in:
Oleg Kalachev
2021-06-03 05:37:36 +03:00
parent 9a9de320df
commit 5ca5918561
1 changed files with 1 additions and 1 deletions
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clover/launch/main_camera.launch
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@@ -19,7 +19,7 @@
<!-- <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"/> -->
<!-- camera node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
<param name="device_path" value="$(arg device)"/>
<param name="frame_id" value="main_camera_optical"/>
<param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>