camera.launch

<?xml version="1.0"?>
<!--
 Copyright (C) 2017 Love Park Robotics, LLC

 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at

 http://www.apache.org/licenses/LICENSE-2.0

 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distribted on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
-->
<launch>
  <arg name="camera" default="camera"/>
  <arg name="serial_number" default="-"/>
  <arg name="on_at_startup" default="true"/>
  <arg name="use_case" default="-"/>
  <arg name="access_code" default="-"/>

  <node pkg="nodelet"
        type="nodelet"
        name="$(arg camera)_standalone_nodelet"
        args="manager"
        output="screen"/>

  <node pkg="nodelet"
        type="nodelet"
        name="$(arg camera)"
        args="load royale_ros/camera_nodelet $(arg camera)_standalone_nodelet"
        output="screen">

    <!-- You can add topic remappings here, e.g.: -->
    <!-- <remap from="/$(arg camera)/stream/1/cloud" to="/$(arg camera)/cloud"/> -->

    <rosparam subst_value="true">
      #
      # Access code for unlocking features beyond Royale Level 1 access
      # Please contact pmdtec for a valid code.
      #
      access_code: "$(arg access_code)"

      #
      # This is the specific camera to connect to
      # or the special string "-" to connect to the
      # first camera found on the bus
      #
      serial_number: "$(arg serial_number)"

      #
      # If a connection to the desired camera cannot be made,
      # or is lost, this is how often to poll the bus to see
      # if it was plugged back in
      #
      poll_bus_secs: 1.0

      #
      # Time in seconds used to detect a disconnected camera. For responsive
      # behavior, you should set: timeout_secs >= poll_bus_secs
      #
      timeout_secs: 1.0

      #
      # tf frame names
      #
      optical_frame: $(arg camera)_optical_link
      sensor_frame:  $(arg camera)_link

      #
      # The camera node provides for a turning on/off the camera via software.
      # This allows for turning off the active illumination unit in the
      # event the royale camera is deployed in a long-running environment
      # like an industrial setting. This parameter sets whether or not
      # the camera should be turned "on" at node startup time.
      #
      on_at_startup: $(arg on_at_startup)

      #
      # Specifies the use case to set on the camera at startup time.
      # If the special use case of "-" (the default), no use case
      # is set. You can always set the use case at runtime using the
      # Config service.
      #
      initial_use_case: "$(arg use_case)"
    </rosparam>
  </node>

  <!-- coord frame transform from Royale optical frame to ROS sensor frame -->
  <node pkg="tf2_ros"
        type="static_transform_publisher"
        name="$(arg camera)_tf"
        args="0 0 0 -1.5707963267948966 0 -1.5707963267948966 $(arg camera)_link $(arg camera)_optical_link"/>
</launch>