Merge branch 'master' of github.com:jhu-lcsr-forks/gscam

README.md

@@ -3,14 +3,34 @@ GSCam
 
 This is a ROS package originally developed by the [Brown Robotics
 Lab](http://robotics.cs.brown.edu/) for broadcasting any
-[Gstreamer](http://gstreamer.freedesktop.org/)-based video stream via the
+[GStreamer](http://gstreamer.freedesktop.org/)-based video stream via the
 standard [ROS Camera API](http://ros.org/wiki/camera_drivers). This fork has
 several fixes incorporated into it to make it broadcast correct
 `sensor_msgs/Image` messages with proper frames and timestamps. It also allows
 for more ROS-like configuration and more control over the GStreamer interface.
 
 Note that this pacakge can be built both in a rosbuild and catkin workspaces.
 
+ROS API
+-------
+
+### gscam
+
+This can be run as both a node and a nodelet.
+#### Topics
+ * `camera/image_raw`
+ * `camera/camera_info`
+
+#### Services
+ * `camera/set_camera_info`
+
+#### Parameters
+ * `~camera_parameters_file`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
+ * `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
+ * `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
+ * `~reopen_on_eof`: Re-open the stream if it ends (EOF).
+ * `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
+
 Examples
 --------
 
@@ -19,6 +39,7 @@ are examples for:
  * [Video4Linux2](examples/v4l.launch): Standard
    [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
    USB webcams
+ * [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
  * [Video File](examples/videofile.launch): Any videofile readable by GStreamer
  * [DeckLink](examples/decklink.launch):
    [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)