MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

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<?xml version="1.0"?>
<launch>
<arg name="mynteye" default="mynteye" />
<!-- node params -->
<arg name="left_topic" default="left" />
<arg name="right_topic" default="right" />
<arg name="imu_topic" default="imu" />
<arg name="base_frame_id" default="$(arg mynteye)_link" />
<arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
<arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
<arg name="imu_frame_id" default="$(arg mynteye)_imu_frame" />
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<arg name="gravity" default="9.8" />
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<!-- device options, -1 will not set the value -->
<!-- gain range: [0,48] -->
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<arg name="gain" default="-1" />
<!-- <arg name="gain" default="24" /> -->
<!-- brightness range: [0,240] -->
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<arg name="brightness" default="-1" />
<!-- <arg name="brightness" default="120" /> -->
<!-- contrast range: [0,255] -->
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<arg name="contrast" default="-1" />
<!-- <arg name="contrast" default="127" /> -->
<!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
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<arg name="frame_rate" default="-1" />
<!-- <arg name="frame_rate" default="25" /> -->
<!-- imu_frequency range: {100,200,250,333,500} -->
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<arg name="imu_frequency" default="-1" />
<!-- <arg name="imu_frequency" default="200" /> -->
<!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="exposure_mode" default="-1" />
<!-- <arg name="exposure_mode" default="0" /> -->
<!-- max_gain range: [0,48] -->
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<arg name="max_gain" default="-1" />
<!-- <arg name="max_gain" default="48" /> -->
<!-- max_exposure_time range: [0,240] -->
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<arg name="max_exposure_time" default="-1" />
<!-- <arg name="max_exposure_time" default="240" /> -->
<!-- desired_brightness range: [0,255] -->
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<arg name="desired_brightness" default="-1" />
<!-- <arg name="desired_brightness" default="192" /> -->
<!-- ir_control range: [0,160] -->
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<arg name="ir_control" default="-1" />
<!-- <arg name="ir_control" default="0" /> -->
<!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
<arg name="hdr_mode" default="-1" />
<!-- <arg name="hdr_mode" default="0" /> -->
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
<!-- mynteye_wrapper_node -->
<node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen">
<!-- node params -->
<param name="left_topic" value="$(arg left_topic)" />
<param name="right_topic" value="$(arg right_topic)" />
<param name="imu_topic" value="$(arg imu_topic)" />
<param name="base_frame_id" value="$(arg base_frame_id)" />
<param name="left_frame_id" value="$(arg left_frame_id)" />
<param name="right_frame_id" value="$(arg right_frame_id)" />
<param name="imu_frame_id" value="$(arg imu_frame_id)" />
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<param name="gravity" value="$(arg gravity)" />
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<!-- device options -->
<param name="gain" value="$(arg gain)" />
<param name="brightness" value="$(arg brightness)" />
<param name="contrast" value="$(arg contrast)" />
<param name="frame_rate" value="$(arg frame_rate)" />
<param name="imu_frequency" value="$(arg imu_frequency)" />
<param name="exposure_mode" value="$(arg exposure_mode)" />
<param name="max_gain" value="$(arg max_gain)" />
<param name="max_exposure_time" value="$(arg max_exposure_time)" />
<param name="desired_brightness" value="$(arg desired_brightness)" />
<param name="ir_control" value="$(arg ir_control)" />
<param name="hdr_mode" value="$(arg hdr_mode)" />
</node>
</group> <!-- mynteye -->
</launch>