Create start_obstacle_camera.launch

Add launch file to setup camera for Apollo 2.5 vision-based perception
EatElephant · Jun 21, 2018 · eafe4fc · eafe4fc
1 parent 8de5ea8
commit eafe4fc
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/modules/drivers/usb_cam/launch/start_obstacle_camera.launch b/modules/drivers/usb_cam/launch/start_obstacle_camera.launch
@@ -0,0 +1,24 @@
+<launch>
+  <arg name="front_obstacle_6mm_topic_name" default="/apollo/sensor/camera/obstacle/front_6mm" />
+  <arg name="frame_rate" default="30"/>
+
+  <group ns="camera_obstacle">
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
+
+    <node pkg="nodelet" type="nodelet" name="sensor_camera_obstacle" output="screen"
+          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
+          <param name="video_device" value="/dev/camera/lanemark" />
+    	    <param name="image_width" value="1920" />
+    	    <param name="image_height" value="1080" />
+    	    <param name="pixel_format" value="yuyv" />
+          <param name="frame_rate" value="$(arg frame_rate)" />
+          <param name="camera_frame_id" value="usb_cam" />
+          <param name="io_method" value="mmap"/>
+          <param name="camera_timeout" value="2000" />
+          <param name="error_code" value="14" />
+          <param name="camera_info_url" type="string" value="file://$(find usb_cam)/params/onsemi_obstacle_intrinsics.yaml" />
+          <remap from="/camera_obstacle/image_raw0" to="$(arg front_obstacle_6mm_topic_name)" />
+          <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg front_obstacle_6mm_topic_name)/camera_info" />
+    </node>
+  </group>
+</launch>