axis_boot.launch

<launch>
    <arg name="DEVICE" default="192.168.1.13"/>
    <arg name="DELAY" default="45.0"/>
    <arg name="FPS" default="10"/>
    <arg name="COMPRESSION" default="10"/>
    <arg name="FRAME" default="/kingfisher/tilt"/>
    <arg name="INFO" value="file:///etc/ros/fuerte/kingfisher/core.d/axis_calibration_zoom1.yaml"/> 
    <arg name="URI" default="http://$(arg DEVICE)/mjpg/video.mjpg?fps=$(arg FPS)&amp;compression=$(arg COMPRESSION)"/>
    <group ns="axis">
        <param name="hostname" value="$(arg DEVICE)" />
        <param name="max_command_rate" value="5.0" />
        <param name="frame_id" value="$(arg FRAME)" />
        <param name="delay" value="$(arg DELAY)" />
        <!-- 
            <param name="camera_info_url" value="$(arg INFO)"/>
            <param name="fps" value="$(arg FPS)" />
            <param name="compression" value="$(arg COMPRESSION)" />
            <param name="width" value="704" />
            <param name="height" value="480" />
            <param name="username" value="root" />
            <param name="password" value="clearpath" />
            <node pkg="axis_camera" type="axis.py" name="axis" /> 
        -->
        <node name="axis" pkg="gscam" type="gscam" output="screen">
            <param name="camera_name" value="192_168_1_13"/>
            <param name="camera_info_url" value="$(arg INFO)"/>
            <param name="gscam_config" value="neonhttpsrc location=$(arg URI) do-timestamp=true is-live=true connect-timeout=120 read-timeout=120 ! jpegparse"/>
            <param name="frame_id" value="$(arg FRAME)"/>
            <param name="use_gst_timestamps" value="true"/>
            <param name="sync_sink" value="true"/>
            <param name="image_encoding" value="jpeg"/>
            <param name="delay" value="$(arg DELAY)" />
        </node>
        <node pkg="axis_camera" type="axis_all.py" name="axis_ptz" />
        <node pkg="axis_camera" type="publish_axis_tf.py" name="axis_tf" >
            <param name="base_frame" value="/kingfisher/axis"/>
            <param name="base_name" value="/kingfisher"/>
        </node>
        <node pkg="axis_camera" type="republish" name="republish">
            <param name="mode" value="gray"/>
            <remap from="/axis/republish/compressed" to="/axis/image_raw/compressed"/>
            <remap from="/axis/republish/out" to="/axis/image_raw"/>
        </node>
    </group>
</launch>