acquisition.launch

<launch>
  <!-- configure console output verbosity mode:debug_console.conf or std_console.conf -->
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>

  <!-- acquisition spinnaker params-->
  <arg name="binning"           default="1"      doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
  <arg name="color"             default="false"  doc="Should color images be used (only works on models that support color images)"/>
  <arg name="exposure_time"     default="0"      doc="Exposure_time setting for cameras"/>
  <arg name="external_trigger"  default="false"  doc="External trigger (No camera is master)"/>
  <arg name="gain"              default="0"      doc="Gain setting. Gain should be positive (full range - 0 - 18 dB for blackfly-s camera) 
                                                      or zero (auto gain). if gain > max, it will be set to max allowed value.
                                                      Default is 0, auto gain which is set according to target grey value or autoexposure settings"/>
  <arg name="target_grey_value"   default="0"    doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4,
                                                      AutoExposureTargetGreyValueAuto will be set to continuous(auto)
                                                      also available as dynamic reconfigurable parameter.
                                                      This parameter has no meaning when auto exposure and auto gain are off" />
  <arg name="frames"            default="3400"   doc="Numer of frames to save/view 0=ON"/>
  <arg name="live"              default="false"  doc="Show images on screen GUI"/>
  <arg name="live_grid"         default="false"  doc="Show images on screen GUI in a grid"/>
  <arg name="output"            default="screen" doc="display output to screen or log file"/>
  <arg name="save"              default="false"  doc="flag whether images should be saved or not"/>
  <arg name="save_path"         default="~"      doc="location to save the image data"/>
  <arg name="save_type"         default="bmp"    doc="Type of file type to save to when saving images locally: binary, tiff, bmp, jpeg etc." />
  <arg name="soft_framerate"    default="30"     doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
  <arg name="time"              default="false"  doc="Show time/FPS on output"/>
  <arg name="to_ros"            default="true"   doc="Flag whether images should be published to ROS" />
  <arg name="utstamps"          default="false"  doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
  <arg name="max_rate_save"     default="false"  doc="Flag for max rate mode which is when the master triggerst the slaves and saves images at maximum rate possible" />


  <!-- nodelet manager params-->
  <arg name="manager" default="vision_nodelet_manager" doc="name of the nodelet manager, comes handy when launching multiple nodelets from different launch files" />
  <arg name="external_manager" default="false" doc="If set to False(default), creates a nodelet manager with $(arg manager).
  If True, the acquisition/Capture waits for the nodelet_manager name $(arg manager)" />

  <!-- Capture nodelet params-->
  <arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
  <arg name="config_file"          default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>

   <!-- start the nodelet manager if $(arg start_nodelet_manager) is true-->
  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen" unless="$(arg external_manager)" />

  <!-- load the acquisition nodelet -->
  <node pkg="nodelet" type="nodelet" name="acquisition_node"
          args="load acquisition/Capture $(arg manager)" >
    <!-- load the acquisition node parameters file.  Note any parameters provided in this file will 
         override what is in the yaml file.  Thus use it to set parameters camer_array configuration params -->
    <rosparam command="load"        file="$(arg config_file)" />

    <!-- Load parameters onto server using argument or default values above -->
    <param name="exposure_time"     value="$(arg exposure_time)" />
    <param name="external_trigger"     value="$(arg external_trigger)" />
    <param name="gain"              value="$(arg gain)"/>
    <param name="target_grey_value" value="$(arg target_grey_value)" />
    <param name="binning"           value="$(arg binning)" />
    <param name="color"             value="$(arg color)" />
    <param name="frames"            value="$(arg frames)" />
    <param name="live"              value="$(arg live)" />
    <param name="live_grid"         value="$(arg live_grid)" />
    <param name="save"              value="$(arg save)" />
    <param name="save_type"         value="$(arg save_type)" />
    <param name="save_path"         value="$(arg save_path)" />
    <param name="soft_framerate"    value="$(arg soft_framerate)" />
    <param name="time"              value="$(arg time)" />
    <param name="utstamps"          value="$(arg utstamps)" />
    <param name="to_ros"            value="$(arg to_ros)"/>
    <param name="max_rate_save"     value="$(arg max_rate_save)" />
    <param name="tf_prefix"         value="$(arg tf_prefix)" />
    
  </node>

</launch>