<?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="800" />
        <param name="image_height" type="int" value="600" />
<!--         <param name="image_width" type="int" value="1600" />
        <param name="image_height" type="int" value="896" /> -->
        <param name="framerate " type="int" value="30" />
        <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" />
    </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>

