From aed0ca99a80621b615b3b7f164be43459f53c83e Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 29 Nov 2017 19:25:56 +0300
Subject: [PATCH] Use nodelet for camera instead of node

---
 clever/launch/bottom_camera.launch | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch
index 8f26376d..b0c629f9 100644
--- a/clever/launch/bottom_camera.launch
+++ b/clever/launch/bottom_camera.launch
@@ -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"/>