hires.launch

<?xml version="1.0"?>
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<launch>
  <arg name="cam_name" default="hires"/>
  <arg name="nodelet_manager_name" default="hires_nodelet_manager"/>
  <arg name="skip_n_frames" default="0"/>
  <arg name="do_rectification" default="false"/>

  <group ns="$(arg cam_name)">  
    <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen"/>
    <!-- camera driver nodelet -->
    <node pkg="nodelet" type="nodelet" name="snap_cam_nodelet"
	  args="load snap_cam_ros/driver $(arg nodelet_manager_name)">          
      <param name="camera_name" value="$(arg cam_name)"/>  
      <param name="format" value="1"/>
      <param name="camera_number" value="0"/>
      <param name="width" value="640"/>
      <param name="height" value="480"/>
      <param name="frame_id" value="hires"/>
      <param name="skip_n_frames" value="$(arg skip_n_frames)"/>

      <param name="yuv_remap" value="mono"/> 
      <!-- options are: mono, yuv422, and rgb8
	   Note the following limitations:

	   mono is the most efficient and only uses the Y channel
	   from the provided yuv420p image.
	   
	   yuv422 converts the yuv420p to the ROS-supported yuv422
	   encoding.  This allows standard ros transport of a color image,
	   but image compression via image transport is not supported.

	   rgb8 converts the yuv420p image to 3 channel, 8 bit rgb.  This
	   supports ros color transport and compression, but it is by far
	   the most computationally expensive (4 float operations, 3 mins, 
	   3 maxes per pixel).  This could result in dropped frames.
      -->
    </node>

    <!--
	camera_number        
	HIRES = 0,
	DOWNWARD = 1,
	RIGHT_STEREO = 2,
	STEREO = 3,

        format
        RAW_FORMAT  = 0
        YUV_FORMAT  = 1
        NV12_FORMAT = 2
    -->

    <!-- mono rectification -->
    <group if="$(arg do_rectification)">
      <node pkg="nodelet" type="nodelet" name="image_proc_rect"
	    args="load image_proc/rectify $(arg nodelet_manager_name)">
        <remap from="image_mono" to="image_raw"/>
      </node>
    </group>    
  </group>
</launch>