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21 lines
1 KiB
XML
21 lines
1 KiB
XML
<launch>
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<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<!-- //指定设备文件名，默认是/dev/video0 -->
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<param name="video_device" value="/dev/video0" />
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<!-- // 宽和高分辨率 -->
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<param name="image_width" value="640" />
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<param name="image_height" value="480" />
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<!-- // 像素编码，可选值：mjpeg，yuyv，Quyvy -->
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<param name="pixel_format" value="yuyv" />
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<param name="color_format" value="yuv422p" />
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<!-- // camera坐标系名Q -->
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<param name="camera_frame_id" value="usb_cam" />
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<!-- // IO通道，可选值：mmap，read，userptr，大数据量信息一般用mmap -->
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<param name="io_method" value="mmap"/>
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</node>
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<!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> -->
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<!-- // 指定发出的topic名：/usb_cam/image_raw -->
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<!-- <remap from="image" to="/usb_cam/image_raw"/> -->
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<!-- <param name="autosize" value="true" /> -->
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<!-- </node> -->
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</launch>
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