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15 lines
631 B
XML
15 lines
631 B
XML
<launch>
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<!-- the bottom facing camera -->
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<!-- TODO: use quaternion for orientation -->
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<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"/>
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<node pkg="cv_camera" type="cv_camera_node" name="bottom_camera">
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<param name="frame_id" value="bottom_camera"/>
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<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam.yaml"/>
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<param name="rate" value="30"/>
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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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</launch>
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