<?xml version="1.0"?>

<!-- Launches an UVC camera, the ball detector and its visualization  -->



<launch>

  <!-- UVC camera -->

  <node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node" output="screen">

    <param name="device" type="string" value="/dev/video0" />

    <param name="width" type="int" value="800" />

    <param name="height" type="int" value="600" />

    <param name="fps" type="int" value="30" />

    <param name="auto_gain" value="false" />

    <param name="gain" type="int" value="120" />

    <param name="exposure" value="100" />

  </node>



  <!-- <param name="gain" value="255" /> -->

  <!-- <param name="auto_exposure" type="bool" value="False" /> -->

  <!-- <param name="exposure_absolute" value="1000" /> -->

  <!-- <param name="brightness" value="127" /> -->

  <!-- <param name="auto_white_balance" type="bool" value="False" /> -->

  <!-- <param name="white_balance_temperature" value="2800" /> -->





  <!-- <param name="auto_exposure" type="bool" value="False" /> -->

  <!-- <param name="exposure_absolute" value="1000" /> -->

  <!-- <param name="brightness" value="64" /> -->

  <!-- <param name="auto_white_balance" type="bool" value="False" /> -->

  <!-- <param name="white_balance_temperature" value="2800" />    -->



  <!-- ball detector -->

  <include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector.launch" />

</launch>
