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