1 <launch>
2 <node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen">
3 <param name="width" type="int" value="640" />
4 <param name="height" type="int" value="480" />
5 <param name="format" value="jpeg" />
6 <param name="fps" type="int" value="60" />
7 <param name="frame" type="string" value="webcam" />
8 <param name="device" type="string" value="/dev/video1" />
9 <param name="camera_info_url" type="string" value="file://$(find uvc_apriltags_test)/example.yaml" />
10 <remap from="/camera/camera_info" to="/camera_info"/>
11 <!--remap from="/camera/image_raw" to="/image_rect"/-->
12 </node>
13 <node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/camera/image_raw raw out:=/image_rect" />
14 <node pkg="apriltags_ros" type="apriltag_detector_node" name="apriltag_detector">
15 <rosparam param="tag_descriptions">[
16 {id: 0, size: 0.528000},
17 {id: 1, size: 0.528000, frame_id: mrobo1},
18 {id: 32, size: 0.034000}]
19 </rosparam>
20 </node>
21
22 <node pkg="uvc_apriltags_test" type="result_subscriber" name="result_apriltag_detector" output="screen" />
23 <node pkg="track_tag" type="track_tag" name="track_tag" output="screen" />
24 <!--node pkg="rviz" type="rviz" name="rviz_view" args="-d $(find uvc_apriltags_test)/launch/rvizview.rviz" /-->
25
26 </launch>
