camera_gige.launch

<?xml version="1.0"?>
<!--
Software License Agreement (BSD)

\file      camera.launch
\authors   Michael Hosmar <mhosmar@clearpathrobotics.com>
\copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
 * Redistributions of source code must retain the above copyright notice, this list of conditions and the
   following disclaimer.
 * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
   following disclaimer in the documentation and/or other materials provided with the distribution.
 * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
   products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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-->
<launch>
   <!-- Determine this using rosrun spinnaker_camera_driver list_cameras.
       If not specified, defaults to first camera found. -->
  <arg name="camera_name"               default="camera" />
  <arg name="camera_serial"             default="0" />

  <!-- ### Use these parameters to set the subnet configuration ONCE, and while only one camera is connected ### -->
  <arg name="camera_IP"                 default="0" />              <!-- Relevant only when using a GigE camera -->
  <arg name="camera_subnet_mask"        default="255.255.255.0" />  <!-- Relevant only when using a GigE camera -->
  <arg name="subnet_gateway"            default="0" />              <!-- Relevant only when using a GigE camera -->
  <!-- ###### -->
  <arg name="calibrated"                default="0" />
  <arg name="device_type"               default="GigE" /> <!-- USB3 or GigE -->

  <!-- When unspecified, the driver will use the default framerate as given by the
      camera itself. Use the parameter 'control_frame_rate' to enable manual frame 
      rate control, and 'frame_rate' to set the frame rate value. -->
  <arg name="control_frame_rate"        default="False" />
  <arg name="frame_rate"                default="30" />

  <!-- Disabling ISP will dramatically increase frame-rate. However, it can only be 
      disabled when using Bayer encoding (e.g. BayerRG8)-->
  <arg name="isp_enable"                default="False" /> 
  <arg name="encoding"                  default="Mono8" />
  <arg name="color_balance"             default="Continuous" /> <!-- Off, Once, or Continuous -->
  <!-- Available Encodings:
        Mono:              YUV:              YCbCr:          Other:
        - Mono8            - YUV411Packed    - YCbCr8        - BGR8
        - Mono16           - YUV422Packed    - YCbCr422_8    - BGRa8
        - Mono12p          - YUV444Packed    - YCbCr411_8    - RGB8Packed
        - Mono12Packed

        Bayer:
        - BayerGR8         - BayerGR12p
        - BayerRG8         - BayerRG12p
        - BayerGB8         - BayerGB12p
        - BayerBG8         - BayerBG12p
        - BayerGR16        - BayerGR12Packed
        - BayerRG16        - BayerRG12Packed
        - BayerGB16        - BayerGB12Packed
        - BayerBG16        - BayerBG12Packed
  -->

  <!-- Parameters for GigE cameras -->
  <arg name="enable_gige_parameters"    default="False" />
  <arg name="throughput_limit"          default="125000000" />
  <arg name="packet_size"               default="1400" />

  <group ns="$(arg camera_name)">
    <!-- Nodelet manager -->
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>

    <!-- Camera nodelet -->
    <node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
          args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >

      <param name="frame_id"                            value="$(arg camera_name)" />
      <param name="serial"                              value="$(arg camera_serial)" />
      <param name="camera_ip"                           value="$(arg camera_IP)" />
      <param name="camera_mask"                         value="$(arg camera_subnet_mask)" />
      <param name="subnet_gateway"                      value="$(arg subnet_gateway)" />
      <param name="device_type"                         value="$(arg device_type)" />

      <!-- Frame rate -->
      <param name="acquisition_frame_rate_enable"       value="$(arg control_frame_rate)" />
      <param name="acquisition_frame_rate"              value="$(arg frame_rate)" />

      <!-- Image Processing -->
      <param name="isp_enable"                          value="$(arg isp_enable)" />
      <param name="auto_white_balance"                  value="$(arg color_balance)" />
      <param name="image_format_color_coding"           value="$(arg encoding)" />

      <param name="gige_parameter_enable"               value="$(arg enable_gige_parameters)" />
      <param name="device_link_throughput_limit"        value="$(arg throughput_limit)" />
      <param name="camera_packet_size"                  value="$(arg packet_size)" />

      <!-- Image Resolution -->
      <!-- Height and width pixel size cannot be set directly. Instead use the 
          binning, offset, and region of interest options. 
          - RoI: range of pixels to select from original image
                (Note: RoI is defined from image pixel origin (i.e. top left))
          - Binning: reduces resolution by a factor of 1, 2, 4, or 8
          - Offset: moves the pixel origin
                x-offset = max_width/x_binning - roi_width/2
                y-offset = max_height/y_binning - roi_height/2
      -->
      <!--
      <param name="image_format_x_binning" value="2" />
      <param name="image_format_y_binning" value="2" />
      <param name="image_format_x_offset" value="128" />
      <param name="image_format_y_offset" value="122" />
      <param name="image_format_roi_width" value="1280" />
      <param name="image_format_roi_height" value="720" />
      -->

      <!-- Use the camera_calibration package to create this file -->
      <param name="camera_info_url" if="$(arg calibrated)"
             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
    </node>

    <!-- Debayering nodelet -->
    <!-- <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
          args="load image_proc/debayer camera_nodelet_manager"> -->
    <!-- </node> -->
  </group>
</launch>