Merge pull request #2629 from sktometometo/PR/add-frame-id-arg-to-cam…

…era-launch [jsk_perception] add frame_id args to libuvc_camera and usb_cam launch
jsk-ros-pkg · Oct 5, 2021 · d9029ae · d9029ae
2 parents cce4067 + 8744793
commit d9029ae
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/jsk_perception/launch/libuvc_camera.launch b/jsk_perception/launch/libuvc_camera.launch
@@ -8,9 +8,11 @@
   <arg name="frame_rate" />
   <arg name="brightness" />
   <arg name="gui" default="false" />
+  <arg name="frame_id" default="$(arg camera_name)_link" />
 
   <group ns="$(arg camera_name)">
     <node name="insta_camera_node" pkg="libuvc_camera" type="camera_node">
+      <param name="frame_id" value="$(arg frame_id)" />
       <param name="vendor" value="$(arg vendor)" />
       <param name="product" value="$(arg product)" />
       <param name="height" value="$(arg height)" />

diff --git a/jsk_perception/launch/usb_cam.launch b/jsk_perception/launch/usb_cam.launch
@@ -7,6 +7,7 @@
   <arg name="frame_rate" />
   <arg name="brightness" />
   <arg name="gui" default="false" />
+  <arg name="frame_id" default="$(arg camera_name)_link" />
 
   <node pkg="usb_cam" type="usb_cam_node" name="$(arg camera_name)">
     <rosparam subst_value="true">
@@ -16,6 +17,7 @@
       pixel_format: $(arg video_mode)
       framerate: $(arg frame_rate)
       brightness: $(arg brightness)
+      camera_frame_id: $(arg frame_id)
     </rosparam>
   </node>