ROS中launch文件的写法及节点调用
相机驱动中的usb_cam包的launch文件
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
ns="usb_cam"/>
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>