<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <!-- Connect to ueye camera and publish topic -->
    <include file="$(find nasa_s2d2)/launch/ueye.launch">
        <!-- ROS piping -->
        <arg name="camera_name"  value="camera" />
        <arg name="camera_topic" value="image_raw" />

        <!-- Image AOI (use binning to downsample) -->
        <arg name="image_width"  value="1600" />
        <arg name="image_height" value="1200" />

        <!-- Camera acquisition rate -->
        <!-- these values were empirically selected using -->
        <!-- dynamic reconfigure on an ODROID XU4 -->
        <arg name="auto_frame_rate" default="False" />
        <arg name="frame_rate"      default="16.0" />
        <arg name="output_rate"     default="0.0" /> <!-- >0: throttle rate for publishing frames -->
        <arg name="pixel_clock"     default="34" />

        <!-- Zoom/Downsample -->
        <arg name="binning" value="2" />
        <!-- setting to 2 makes images 800x600, allows for higher fps, and does not change FOV -->
    </include>

</launch>