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Use nodelet for camera instead of node

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This commit is contained in:
Oleg Kalachev
2017-11-29 19:25:56 +03:00
parent 23dc75bb91
commit aed0ca99a8
1 changed files with 6 additions and 4 deletions
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10
clever/launch/bottom_camera.launch
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@@ -1,12 +1,14 @@
<launch>
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen"/>
<!-- the bottom facing camera -->
<!-- TODO: use quaternion for orientation -->
<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 0 -1.5707963 0 3.1415926 fcu bottom_camera_optical"/>
<!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 0 -1.5707963 0 3.1415926 fcu bottom_camera"/>-->
<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 0 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>
<node pkg="cv_camera" type="cv_camera_node" name="bottom_camera">
<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam.yaml"/>
<node pkg="nodelet" type="nodelet" name="bottom_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
<param name="frame_id" value="bottom_camera_optical"/>
<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_new_320.yaml"/>
<param name="rate" value="30"/>
<param name="image_width" value="320"/>
<param name="image_height" value="240"/>