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Make v4l2 device file an argument in main_camera.launch

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This commit is contained in:
Oleg Kalachev
2021-06-03 05:37:27 +03:00
parent a2ab6e22e0
commit 9a9de320df
1 changed files with 2 additions and 1 deletions
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3
clover/launch/main_camera.launch
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@@ -3,6 +3,7 @@
<arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
<arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
<arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
<arg name="simulator" default="false"/>
<node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -19,7 +20,7 @@
<!-- camera node -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
<param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
<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"/>