launch/realsense.launch

   1 <?xml version="1.0"?>
   2
   3 <!--
   4 v4l2-ctl -d /dev/video3 \-\-list-formats-ext
   5 ioctl: VIDIOC_ENUM_FMT
   6         Index       : 0
   7         Type        : Video Capture
   8         Pixel Format: 'YUYV'
   9         Name        : YUYV 4:2:2
  10                 Size: Discrete 424x240
  11                         Interval: Discrete 0.017s (60.000 fps)
  12                         Interval: Discrete 0.033s (30.000 fps)
  13                         Interval: Discrete 0.067s (15.000 fps)
  14                         Interval: Discrete 0.167s (6.000 fps)
  15                 Size: Discrete 640x480
  16                         Interval: Discrete 0.033s (30.000 fps)
  17                         Interval: Discrete 0.067s (15.000 fps)
  18                         Interval: Discrete 0.167s (6.000 fps)
  19                 Size: Discrete 1280x720
  20                         Interval: Discrete 0.167s (6.000 fps)
  21 -->
  22
  23 <launch>
  24         <arg name="align_depth" default="true"/>
  25
  26         <include file="$(find realsense2_camera)/launch/rs_camera.launch">
  27                 <arg name="depth_fps"           default="15"/>
  28                 <arg name="infra_fps"           default="15"/>
  29                 <arg name="color_fps"           default="15"/>
  30                 <arg name="enable_fisheye"      default="false"/>
  31                 <arg name="enable_infra2"       default="false"/>
  32                 <arg name="enable_gyro"         default="false"/>
  33                 <arg name="enable_accel"        default="false"/>
  34                 <arg name="publish_tf"          default="true"/>
  35                 <arg name="publish_odom_tf"     default="false"/>
  36                 <arg name="enable_pointcloud"   default="false"/>
  37                 <arg name="align_depth"         value="$(arg align_depth)"/>
  38                 <!--
  39                 <arg name="filters"             default="pointcloud"/>
  40                 -->
  41         </include>
  42
  43         <node pkg="web_video_server" type="web_video_server" name="web_video_server" output="screen"/>
  44 </launch>