From b26cf3d3ecb616af60f2ffefafedf8a890235ed5 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 15 Nov 2017 19:02:29 +0300
Subject: [PATCH] Add launching FPV camera to the launch-file

---
 clever/launch/clever.launch     | 7 +++++++
 clever/launch/fpv_camera.launch | 6 ++++++
 clever/src/fpv_camera           | 8 ++++++++
 3 files changed, 21 insertions(+)
 create mode 100644 clever/launch/fpv_camera.launch
 create mode 100644 clever/src/fpv_camera

diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index 3a0ee366..272619ce 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -6,6 +6,8 @@
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="camera" default="false"/>
+    <arg name="fpv_camera" default="true"/>
+    <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
@@ -29,4 +31,9 @@
 
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>
+
+    <!-- FPV video streaming -->
+    <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">
+        <arg name="device" value="$(arg fpv_camera_device)"/>
+    </include>
 </launch>
diff --git a/clever/launch/fpv_camera.launch b/clever/launch/fpv_camera.launch
new file mode 100644
index 00000000..359ef14f
--- /dev/null
+++ b/clever/launch/fpv_camera.launch
@@ -0,0 +1,6 @@
+<launch>
+    <arg name="device"/>
+    <arg name="port" default="9999"/>
+
+    <node name="fpv_camera" pkg="clever" type="fpv_camera" args="$(arg device) $(arg port)" output="screen"/>
+</launch>
diff --git a/clever/src/fpv_camera b/clever/src/fpv_camera
new file mode 100644
index 00000000..832b7059
--- /dev/null
+++ b/clever/src/fpv_camera
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+# Usage
+# fpv_camera <video_device> <http port>
+
+echo "Starting FPV camera $1 on :$2"
+cd /home/pi/mjpg-streamer/mjpg-streamer-experimental
+./mjpg_streamer -i "./input_uvc.so -d $1 -r 1024x720 -f 30" -o "./output_http.so -w ./www -p $2"