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Launch-file for the bottom camera

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Oleg Kalachev
2017-11-07 15:36:25 +03:00
parent d0f2dda58b
commit dfebf7e4e2
2 changed files with 34 additions and 0 deletions
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clever/launch/bottom_camera.launch Normal file
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<launch>
<!-- 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"/>
<node pkg="cv_camera" type="cv_camera_node" name="bottom_camera">
<param name="frame_id" value="bottom_camera"/>
<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam.yaml"/>
<param name="rate" value="30"/>
<param name="image_width" value="320"/>
<param name="image_height" value="240"/>
</node>
</launch>