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fix(ros): fix init device

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This commit is contained in:
kalman
2018-12-20 20:45:11 +08:00
parent 09e14293ed
commit 1652d976bf
4 changed files with 52 additions and 34 deletions
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41
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -35,26 +35,27 @@
<!-- stream toggles -->
<!-- Resolution -->
<arg name="res_752x480" default="0" />
<arg name="res_1280x400" default="1" />
<arg name="res_2560x800" default="2" />
<!-- Request index -->
<!-- FrameRate -->
<arg name="rate_10_fps" default="10" />
<arg name="rate_20_fps" default="20" />
<arg name="rate_25_fps" default="25" />
<arg name="rate_30_fps" default="30" />
<arg name="rate_60_fps" default="60" />
<!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 10 -->
<arg name="index_s210a_0" default="0" />
<!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 20 -->
<arg name="index_s210a_1" default="1" />
<!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 30 -->
<arg name="index_s210a_2" default="2" />
<!-- MYNTEYE-S210A, Reslution: 1280x400, Format: BGR888, Fps: 60 -->
<arg name="index_s210a_3" default="3" />
<!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 10 -->
<arg name="index_s210a_4" default="4" />
<!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 20 -->
<arg name="index_s210a_5" default="5" />
<!-- MYNTEYE-S210A, Reslution: 2560x800, Format: BGR888, Fps: 30 -->
<arg name="index_s210a_6" default="6" />
<!-- Format -->
<arg name="grey" default="1497715271" />
<arg name="yuyv" default="1497715271" />
<arg name="bgr888" default="861030210" />
<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV, Fps: 25 -->
<arg name="index_s1030_0" default="0" />
<arg name="resolution" default="$(arg res_1280x400)" />
<arg name="framerate" default="$(arg rate_30_fps)" />
<arg name="format" default="$(arg bgr888)" />
<arg name="request_index" default="$(arg index_s210a_2)" />
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />
@@ -151,10 +152,8 @@
<param name="enable_points" value="$(arg enable_points)" />
<param name="enable_depth" value="$(arg enable_depth)" />
<!-- init params -->
<param name="resolution" value="$(arg resolution)" />
<param name="framerate" value="$(arg framerate)" />
<param name="format" value="$(arg format)" />
<!-- stream request index -->
<param name="request_index" value="$(arg request_index)" />
<!-- device options -->