<launch>
  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find ar_pose)/launch/live_single.rviz"/>
  <node pkg="tf" type="static_transform_publisher" name="world_to_cam"
    args="0 0 0.5 -1.57 0 -1.57 world camera 10" />
  <node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>
  <node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"
    output="screen">

    <remap from="camera_info" to="camera/camera_info"/>
    <remap from="image_raw" to="camera/image_raw"/>

    <param name="width" type="int" value="320" />
    <param name="height" type="int" value="240" />
    <param name="fps" type="int" value="30" />
    <param name="frame" type="string" value="camera" />
    <param name="device" type="string" value="/dev/video0" />
    <param name="camera_info_url" type="string"
      value="file://$(find uvc_camera)/camera_calibration.yaml" />
  </node>
  <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false"
    output="screen">
    <param name="marker_pattern" type="string"
      value="$(find ar_pose)/data/4x4/4x4_1.patt"/>
    <param name="marker_width" type="double" value="152.4"/>
    <param name="marker_center_x" type="double" value="0.0"/>
    <param name="marker_center_y" type="double" value="0.0"/>
    <param name="threshold" type="int" value="100"/>
    <param name="use_history" type="bool" value="true"/>
  </node>
</launch>

ERRORS:
camera/uvc_camera_node-4] process has died [pid 9943, exit code -6, cmd /home/przemek/tum_simulator_ws/devel/lib/uvc_camera/uvc_camera_node camera_info:=camera/camera_info image_raw:=camera/image_raw __name:=uvc_camera_node __log:=/home/przemek/.ros/log/2e1f28ca-7361-11e4-a735-001e65a44a56/camera-uvc_camera_node-4.log].
log file: /home/przemek/.ros/log/2e1f28ca-7361-11e4-a735-001e65a44a56/camera-uvc_camera_node-4*.log