1
<launch>
2
  <param name="use_sim_time" value="false"/>
3
  <arg name="camera_type" value="$(env CAMERA)"/>
4

5
  <group if="$(eval arg('camera_type') == 'astra')">
6
     <include file="$(find astra_camera)/launch/astra.launch"/>
7
  </group>
8

9
  <group if="$(eval arg('camera_type') == 'gemini')">
10
     <include file="$(find astra_camera)/launch/gemini.launch"/>
11
  </group>
12

13
  <group if="$(eval arg('camera_type') == 'astrapro')">
14
    <node name="uvc_camera_node" pkg="uvc_camera" type="uvc_camera_node" output="screen">
15
    <remap from="/image_raw" to="/camera/rgb/image_raw" />
16
    <remap from="/camera_info" to="/camera/rgb/camera_info" />
17
  <param name="width" type="int" value="640" />
18
  <param name="height" type="int" value="480" />
19
  <param name="fps" type="int" value="30" />
20
  <param name="frame" type="string" value="wide_stereo" />
21

22
  <param name="auto_focus" type="bool" value="False" />
23
  <param name="focus_absolute" type="int" value="0" />
24
  <!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->
25

26
  <param name="device" type="string" value="/dev/video0" />
27
  <param name="camera_info_url" type="string" value="file://$(find abot)/param/camera_calibration/camera.yaml" />
28
     </node>
29

30
     <node pkg="topic_tools" type="transform" name="compressed_image" args="/camera/rgb/image_raw/compressed /compressed_image sensor_msgs/CompressedImage 'm' --wait-for-start" required="true">
31
     </node>
32
  </group>
33

34
  <group if="$(eval arg('camera_type') == 'usb')">
35
    <node name="uvc_camera_node" pkg="uvc_camera" type="uvc_camera_node" output="screen">
36
    <remap from="/image_raw" to="/camera/right/image_raw" />
37
    <remap from="/camera_info" to="/camera/right/camera_info" />
38
  <param name="width" type="int" value="640" />
39
  <param name="height" type="int" value="480" />
40
  <param name="fps" type="int" value="30" />
41
  <param name="frame" type="string" value="wide_stereo" />
42

43
  <param name="auto_focus" type="bool" value="False" />
44
  <param name="focus_absolute" type="int" value="0" />
45
  <!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->
46

47
  <param name="device" type="string" value="/dev/video4" />
48
  <param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />
49
     </node>
50
     <node name="uvc_camera_node1" pkg="uvc_camera" type="uvc_camera_node" output="screen">
51
    <remap from="/image_raw" to="/camera/rgb/image_raw" />
52
    <remap from="/camera_info" to="/camera/rgb/camera_info" />
53
  <param name="width" type="int" value="640" />
54
  <param name="height" type="int" value="480" />
55
  <param name="fps" type="int" value="30" />
56
  <param name="frame" type="string" value="wide_stereo" />
57

58
  <param name="auto_focus" type="bool" value="False" />
59
  <param name="focus_absolute" type="int" value="0" />
60

61
  <param name="device" type="string" value="/dev/video2" />
62
  <param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />
63
     </node>
64
     <node name="uvc_camera_node2" pkg="uvc_camera" type="uvc_camera_node" output="screen">
65
    <remap from="/image_raw" to="/camera/back/image_raw" />
66
    <remap from="/camera_info" to="/camera/back/camera_info" />
67
  <param name="width" type="int" value="640" />
68
  <param name="height" type="int" value="480" />
69
  <param name="fps" type="int" value="30" />
70
  <param name="frame" type="string" value="wide_stereo" />
71

72
  <param name="auto_focus" type="bool" value="False" />
73
  <param name="focus_absolute" type="int" value="0" />
74

75
  <param name="device" type="string" value="/dev/video0" />
76
  <param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />
77
     </node>
78

79
  </group>
80

81

82

83
  <group if="$(eval arg('camera_type') == 'csi')">
84
     <include file="$(find jetson_camera)/launch/jetson_camera.launch"/>
85
     <node pkg="topic_tools" type="transform" name="compressed_image" args="/camera/rgb/image_raw/compressed /compressed_image sensor_msgs/CompressedImage 'm' --wait-for-start" required="true">
86
     </node>
87
  </group>
88

89
  <group if="$(eval arg('camera_type') == 'intel')">
90
    <include file="$(find realsense2_camera)/launch/rs_rgbd.launch" />
91
        <node pkg="topic_tools" type="transform" name="compressed_image" args="/camera/color/image_raw/compressed /compressed_image sensor_msgs/CompressedImage 'm' --wait-for-start"  respawn="true" />
92
  </group>
93
</launch>