start_leopard.launch

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<launch>
  <arg name="traffic_short_topic_name" default="/apollo/sensor/camera/traffic/image_short" />
  <arg name="traffic_long_topic_name" default="/apollo/sensor/camera/traffic/image_long" />
  <arg name="front_obstacle_6mm_topic_name" default="/apollo/sensor/camera/obstacle/front_6mm" />
  <arg name="frame_rate" default="30"/>
 
  <group ns="camera_long">
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
 
    <node pkg="nodelet" type="nodelet" name="sensor_camera_traffic_long" output="screen"
          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
      <param name="video_device" value="/dev/camera/trafficlights" />
        <param name="image_width" value="1920" />
        <param name="image_height" value="1080" />
        <param name="pixel_format" value="rgb24" />
      <param name="frame_rate" value="$(arg frame_rate)" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="mmap"/>
      <param name="camera_timeout" value="2000" />
      <param name="error_code" value="11" />
      <param name="camera_info_url" type="string" value="long_camera_intrinsics.yaml" />
      <remap from="/camera_long/image_raw0" to="$(arg traffic_long_topic_name)" />
      <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg traffic_long_topic_name)/camera_info" />
    </node>
  </group>
 
  <group ns="camera_short">
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
 
    <node pkg="nodelet" type="nodelet" name="sensor_camera_traffic_short" output="screen"
          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
      <param name="video_device" value="/dev/camera/obstacle" />
        <param name="image_width" value="1920" />
        <param name="image_height" value="1080" />
        <param name="pixel_format" value="rgb24" />
      <param name="frame_rate" value="$(arg frame_rate)" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="mmap"/>
      <param name="camera_timeout" value="2000" />
      <param name="error_code" value="14" />
        <param name="camera_info_url" type="string" value="short_camera_intrinsics.yaml" />
      <remap from="/camera_short/image_raw0" to="$(arg traffic_short_topic_name)" />
      <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg traffic_short_topic_name)/camera_info" />
    </node>
  </group>
 
  <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="rgb24" />
      <param name="frame_rate" value="$(arg frame_rate)" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="mmap"/>
      <param name="camera_timeout" value="2000" />
      <param name="error_code" value="14" />
        <param name="camera_info_url" type="string" value="front_camera_intrinsics.yaml" />
      <remap from="/camera_obstacle/image_raw0" to="$(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>