gscam/launch/tdgigev_bayer.launch at 9b83cd013e89d7f7e49c07da1d8405a01644b3f4 · ros-drivers/gscam · GitHub

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


  <!-- Select camera by Index or IP or SerialNumber or DeviceName feature (only one though) -->
  <!-- Examples shown here...
            <arg name="GIGECAMID" default="cam-index=0"/>
            <arg name="GIGECAMID" default="cam-ip=169:254:5:20"/>
            <arg name="GIGECAMID" default="cam-sn=S1113716"/>
            <arg name="GIGECAMID" default="cam-name=A0000546"/>
       For multiple cameras - Remember to use unique node names in each launch file -->

  <!-- The GStreamer framerate needs to be an integral fraction -->
  <arg name="CAMINDEX" default="0"/>
  <arg name="GIGECAMID" default="cam-index=$(arg CAMINDEX)"/>
  <arg name="PUBLISH_FRAME" default="false"/>
  <arg name="CFGFILE" default="false"/>

  <node name="gscam" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="/gigev_cam$(arg CAMINDEX)"/>
    <param unless="$(arg CFGFILE)" name="gscam_config" value="tdgigevsrc $(arg GIGECAMID) ! queue ! bayer2rgb ! videoconvert"/>
    <param if="$(arg CFGFILE)" name="gscam_config" value="tdgigevsrc $(arg GIGECAMID) cfg-file=$(arg CFGFILE) ! queue ! bayer2rgb ! videoconvert"/>
    <param name="frame_id" value="default"/>
    <param name="sync_sink" value="true"/>
  </node>
</launch>