decklink.launch

<launch>
  <!-- This launchfile should bring up a node that broadcasts a ros image
       transport on /decklink/image_raw from the input channel of a BlackMagic
       DeckLink SDI capture card-->

  <!-- DeckLink config, run $ gst-inspect decklinksrc to see all the options for your card -->
  <arg name="MODE" default="ntsc"/>
  <arg name="CONNECTION" default="sdi"/>
  <arg name="SUBDEVICE" default="0"/>
  <arg name="PUBLISH_FRAME" default="false"/>

  <node ns="decklink" name="gscam_driver_decklink" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="default"/>
    <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
    <param name="gscam_config" value="decklinksrc mode=$(arg MODE) connection=$(arg CONNECTION) subdevice=$(arg SUBDEVICE) ! ffmpegcolorspace "/>
    <param name="frame_id" value="/decklink_frame"/>
    <!-- This needs to be set to false to avoid dropping tons of frames -->
    <param name="sync_sink" value="false"/>
  </node>

  <node name="decklink_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /decklink_frame 10"/>
</launch>