osx.launch

<launch>
  <!-- This launchfile should bring up a node that broadcasts a ros image
       transport on /webcam/image_raw -->

  <!-- The GStreamer device-index needs to be an integer -->
  <arg name="DEVICE_INDEX" default="0"/>
  <!-- The GStreamer framerate needs to be an integral fraction -->
  <arg name="FPS" default="30/1"/>
  <arg name="PUBLISH_FRAME" default="false"/>

  <node ns="qtkit" name="gscam_driver_qtkit" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="default"/>
    <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
    <param name="gscam_config" value="qtkitvideosrc device-index=$(arg DEVICE_INDEX) ! video/x-raw-yuv,framerate=$(arg FPS) ! ffmpegcolorspace"/>
    <param name="frame_id" value="/qtkit_frame"/>
    <param name="sync_sink" value="true"/>
  </node>

  <node if="$(arg PUBLISH_FRAME)" name="qtkit_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /qtkit_frame 10"/>
</launch>