aravis_avt.launch

<?xml version="1.0"?>
<!-- vim: set fenc=utf-8 et sts=4 ft=xml : -->
<launch>
  <arg name="camera_name" default="cam_avt_prosilica"/>
  <arg name="guid" default="Allied Vision Technologies-02-2612A-07159" />
  <arg name="frame_rate" default="5"/>

  <node pkg="camera_aravis" type="camera_node" name="cam_avt_prosilica_aravis" ns="$(arg camera_name)" output="screen" clear_params="true" >
    <param name="frame_id" value="$(arg camera_name)" />
    <param name="guid" type="str" value="$(arg guid)" />
    <param name="frame_rate" value="$(arg frame_rate)" />
    <param name="period_for_stats_annotation" value="20" /> <!-- In seconds. >=1000 disables annotation  -->
    <param name="camera_info_url" type="string" value="file:///calibration/avt.yml"/>

    <param name="thread_priority" value="2" /> <!-- 0 = normal, 1 = high priority, 2 = real-time -->

    <param name="AcquisitionMode" type="str" value="Continuous"/>
    <param name="AcquisitionFrameRateAbs" value="$(arg frame_rate)"/>

    <param name="ExposureAuto" type="str" value="Continuous"/>
    <param name="ExposureMode" type="str" value="Timed"/>
    <param name="ExposureAutoAlg" type="str" value="Mean"/>
    <param name="ExposureAutoAdjustTol" value="2"/> <!--0 to 50 -->
    <param name="ExposureAutoOutliers" value="0"/> <!-- 1000 = 10% -->
    <param name="ExposureAutoTarget" value="15"/> <!-- 0=black to 100=white -->
    <param name="ExposureAutoMin" value="50.0"/>
    <param name="ExposureAutoMax" value="35000.0"/>

    <param name="GainAuto" type="str" value="Continuous"/>
    <param name="GainAutoAdjustTol" value="2"/> <!--0 to 50 -->
    <param name="GainAutoOutliers" value="0"/> <!-- 1000 = 10% -->
    <param name="GainAutoTarget" value="15"/> <!-- 0=black to 100=white -->
    <param name="GainAutoMin" value="0.0"/>
    <param name="GainAutoMax" value="30.0"/>

    <param name="TriggerMode" type="str" value="Off"/>
  </node>

</launch>