Head cam config #645
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Head cam config #645
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depends on ipa320/cob_calibration_data#129 |
floweisshardt
requested changes
Apr 4, 2017
| @@ -1,6 +1,6 @@ | |||
| # rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) | |||
| # int | |||
| rotation_mode: 1 | |||
| rotation_mode: 0 | |||
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we should keep mode 1 here as we'd like to flip the image as soon as the torso starts bending.
benmaidel
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@ipa-fmw removed image_flip changes |
fmessmer
requested changes
Apr 4, 2017
| <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="framerate" value="10"/> <!-- at 2048x1536 3.6hz is maximum on hw --> |
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maybe it makes sense to move these parameters into a yaml file within cob_hardware_config as they are camera-specific and this is a general usb_camera_node launch file...
do we achieve this rate on the robot?
also the hz_monitor.yaml needs to be adjusted to the updated framerate!
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Tested on HW cob4-7 |
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