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Add launching FPV camera to the launch-file

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This commit is contained in:
Oleg Kalachev
2017-11-15 19:02:29 +03:00
parent 5c470bd870
commit b26cf3d3ec
3 changed files with 21 additions and 0 deletions
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7
clever/launch/clever.launch
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@@ -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>

6
clever/launch/fpv_camera.launch Normal file
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@@ -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>