<?xml version="1.0"?>
<!-- Launches an UVC camera, the ball detector and its visualization  -->
<launch>
  <!-- UVC camera -->
  <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
    <param name="video_device" type="string" value="/dev/video0" />
    <param name="image_width" type="int" value="1280" />
    <param name="image_height" type="int" value="720" />
    <param name="framerate " type="int" value="30" />
    <param name="camera_frame_id" type="string" value="cam_link" />
    <param name="camera_name" type="string" value="camera" />
    <!-- <param name="autofocus" type="bool" value="False" /> -->
    <!-- <param name="autoexposure" type="bool" value="False" /> -->
    <!-- <param name="auto_white_balance" type="bool" value="False" /> -->
    <!-- <param name="gain" value="255" /> -->
    <!-- <param name="brightness" value="64" /> -->
    <!-- <param name="exposure" value="80" /> -->
    <!-- <param name="auto_exposure" type="bool" value="False" /> -->
    <!-- <param name="exposure_absolute" value="1000" /> -->
    <!-- <param name="auto_white_balance" type="bool" value="False" /> -->
    <!-- <param name="white_balance_temperature" value="2800" /> -->
    <!-- <param name="camera_info_url" type="string" value="file://$(find ar_pose)/data/camera_1280720.yaml" /> -->
  </node>

  <!-- ball detector -->
  <include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector.launch" />
</launch>
