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<launch>
<argname='DEVICE'default='/dev/video0'/>
<!-- The GStreamer framerate needs to be an integral fraction -->
<argname='FPS'default='30/1'/>
<nodepkg='nodelet'type='nodelet'
name='standalone_nodelet'args='manager'
output='screen'/>
<nodepkg='nodelet'type='nodelet'
name='GSCamNodelet'
args='load gscam/GSCamNodelet standalone_nodelet'
output='screen'>
<paramname='camera_name'value='default'/>
<paramname='camera_info_url'value='package://gscam/examples/uncalibrated_parameters.ini'/>
<paramname='gscam_config'value='v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace'/>
<paramname='frame_id'value='/v4l_frame'/>
<paramname='sync_sink'value='true'/>
</node>
</launch>
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