From 9a9de320df7d4e8f992ef2ede456772b571a4361 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 3 Jun 2021 05:37:27 +0300
Subject: [PATCH] Make v4l2 device file an argument in main_camera.launch

---
 clover/launch/main_camera.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/clover/launch/main_camera.launch b/clover/launch/main_camera.launch
index 9abc80ad..cf485d26 100644
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -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"/>