4 v4l2-ctl -d /dev/video3 \-\-list-formats-ext
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)
25 <node pkg="usb_cam" type="usb_cam_node" name="usb_cam" output="screen" required="true">
26 <param name="video_device" value="/dev/video3"/>
27 <param name="pixel_format" value="yuyv"/>
28 <param name="framerate" value="15"/>
31 <include file="$(find realsense2_camera)/launch/rs_camera.launch">
32 <arg name="depth_fps" default="15"/>
33 <arg name="infra_fps" default="15"/>
34 <arg name="color_fps" default="15"/>
35 <arg name="enable_fisheye" default="false"/>
36 <arg name="enable_infra2" default="false"/>
37 <arg name="enable_gyro" default="false"/>
38 <arg name="enable_accel" default="false"/>
39 <arg name="publish_tf" default="true"/>
40 <arg name="publish_odom_tf" default="false"/>
41 <arg name="enable_pointcloud" default="false"/>
43 <arg name="filters" default="pointcloud"/>
47 <node pkg="web_video_server" type="web_video_server" name="web_video_server" output="screen"/>