add stream format as parmeters

2026-10-09 22:29:48 +08:00 · 2022-06-27 10:26:04 +08:00
parent 06574bfefc
commit 0067d11b3c
8 changed files with 114 additions and 11 deletions
@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    color_width: 2048
+    color_height: 1536
+    color_fps: 30.0
+    color_format : "MJPG"
+    color_frame_id: "color_frame"
+    color_optical_frame_id: "color_optical_frame"
+    enable_color: true
+    ir_width: 640
+    ir_height: 480
+    ir_fps: 30.0
+    ir_format : "Y16"
+    ir_frame_id: "ir_frame"
+    ir_optical_frame_id: "ir_optical_frame"
+    enable_ir: true
+    depth_width: 640
+    depth_height: 480
+    depth_fps: 30.0
+    depth_format : "Y16"
+    depth_frame_id: "depth_frame"
+    depth_optical_frame_id: "depth_optical_frame"
+    enable_depth: true
+    publish_tf: true
+    tf_publish_rate: 10.0
+    wait_for_device_timeout: 120.0
+    reconnect_timeout: 6.0
+    d2c_mode: "none"
+    serial_number: ""
+    camera_link_frame_id: "camera_link"
+    ob_log_level: "none"