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61 lines
4.3 KiB
XML
61 lines
4.3 KiB
XML
<launch>
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<!-- article about camera setup: https://clover.coex.tech/camera_setup -->
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<arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
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<arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
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<arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
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<arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
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<arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
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<arg name="rectify" default="false"/> <!-- enable rectification -->
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<arg name="simulator" default="false"/>
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<node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
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<node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
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<!-- Template for custom camera orientation -->
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<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
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<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
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<!-- camera nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
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<param name="num_worker_threads" value="2"/>
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</node>
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<!-- camera node -->
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<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
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<param name="device_path" value="$(arg device)"/>
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<param name="frame_id" value="main_camera_optical"/>
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<param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
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<param name="rate" value="100"/> <!-- poll rate -->
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<param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
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<param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
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<param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
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<!-- camera resolution -->
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<param name="image_width" value="320"/>
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<param name="image_height" value="240"/>
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</node>
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<!-- camera visualization markers -->
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<node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
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<param name="scale" value="3.0"/>
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</node>
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<!-- image topic throttled -->
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<node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
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args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
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<!-- rectified image topic -->
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<node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
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<remap from="image_mono" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="image_rect" to="main_camera/image_rect"/>
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</node>
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</launch>
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