Merge pull request #645 from ipa-bnm/head_cam_config

Head cam config

Author: Benjamin Maidel

cob_bringup/drivers/usb_camera_node.launch

@@ -2,17 +2,14 @@
 <launch>
 
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="camera_name" default="usb_cam"/>
 
 	<node name="$(arg camera_name)" pkg="usb_cam" type="usb_cam_node" output="screen">
-		<param name="video_device" value="/dev/video0"/>
-		<param name="image_width" value="2048"/>
-		<param name="image_height" value="1536"/>
-		<param name="pixel_format" value="yuyv"/>
-		<param name="camera_frame_id" value="$(arg camera_name)_link"/>
-		<param name="framerate" value="3.5"/>   <!-- at 2048x1536 3.6hz is maximum on hw -->
 		<param name="camera_name" value="$(arg camera_name)"/>
+		<param name="camera_frame_id" value="$(arg camera_name)_link"/>
 		<param name="camera_info_url" value="package://cob_calibration_data/$(arg robot)/calibration/cameras/$(arg camera_name).yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/$(arg robot)/config/$(arg camera_name).yaml"/>
 	</node>
 
 </launch>

cob_hardware_config/cob4-2/config/head_cam.yaml

@@ -0,0 +1,5 @@
+video_device: "/dev/video0"
+image_width: 2048
+image_height: 1536
+pixel_format: yuyv
+framerate: 3.5  #at 2048x1536 3.6hz is maximum on hw

cob_hardware_config/cob4-7/config/head_cam.yaml

@@ -0,0 +1,5 @@
+video_device: "/dev/video0"
+image_width: 1280
+image_height: 960
+pixel_format: yuyv
+framerate: 10

cob_hardware_config/cob4-7/config/hz_monitor_head_cam.yaml

@@ -1,4 +1,4 @@
 diagnostics_name: head_cam
 topics: [/head_cam/camera_info]
-hz: 3.5
+hz: 10.0
 hzerror: 1