<?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 ball_detector)/launch/ball_detector.launch" />
</launch>

