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jieshoudaxue
36 lines
1.5 KiB
XML
36 lines
1.5 KiB
XML
<launch>
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<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<param name="video_device" value="/dev/video0" />
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<param name="image_width" value="640" />
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<param name="image_height" value="480" />
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<param name="pixel_format" value="yuyv" />
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<param name="camera_frame_id" value="usb_cam" />
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<param name="io_method" value="mmap"/>
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</node>
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<node pkg="tf" type="static_transform_publisher" name="world_to_cam"
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args="0 0 0.5 0 1.57 0 world usb_cam 10" />
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<arg name="marker_size" default="5" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.2" />
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<arg name="cam_image_topic" default="/usb_cam/image_raw" />
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<arg name="cam_info_topic" default="/usb_cam/camera_info" />
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<arg name="output_frame" default="/usb_cam" />
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<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
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<param name="marker_size" type="double" value="$(arg marker_size)" />
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<param name="max_new_marker_error" type="double" value="$(arg max_new_marker_error)" />
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<param name="max_track_error" type="double" value="$(arg max_track_error)" />
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<param name="output_frame" type="string" value="$(arg output_frame)" />
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<remap from="camera_image" to="$(arg cam_image_topic)" />
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<remap from="camera_info" to="$(arg cam_info_topic)" />
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</node>
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<!-- rviz view /-->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ar_track_alvar)/doc/rviz/qr_code_read.rviz"/>
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</launch>
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