stereo.launch.xml

<!-- Sample minimal launchfile -->
<launch>

    <!-- Method used for triggering the cameras.

        Valid values:
            "internal" uses the internal timing system in the camera.  If used,
                        the cameras _are not synchronized_

            "external" uses GPIO pins on the Nano to trigger the cameras.
                        If used, the cameras will be hardware synchronized
    -->
    <arg name="trigger_mode" default="external"/>

    <!--  Desired framerate for both cameras (in frames per second).
        This param is used for both "internal" and "external" trigger modes.

        For the current IMX296 cameras, valid values are from 1-60 fps
    -->
    <arg name="framerate" default="10"/>

    <!-- Maximum exposure time, in ms.

        System will increase exposure value to this limit,
        then increase gain to maintain exposure.  -->
    <arg name="max_exposure_ms" default="5.0" />

    <!-- URLs to the camera info files (in ROS YAML format).  The node will run

        This uses sample files provided with this repo.
      -->
    <arg name="left_camera_info" default="file://$(find-pkg-share vc_argus_ros2)/calibrations/left_stereo_params.yaml"/>
    <arg name="right_camera_info" default="file://$(find-pkg-share vc_argus_ros2)/calibrations/right_stereo_params.yaml"/>


    <node pkg="vc_argus_ros2" exec="argus_node" name="stereo_node"
          output="screen">

        <param name="framerate" value="$(var framerate)"/>
        <param name="trigger_mode" value="$(var trigger_mode)"/>

        <param name="left_camera_info" value="$(var left_camera_info)"/>
        <param name="right_camera_info" value="$(var right_camera_info)"/>

        <param name="max_exposure_ms" value="$(var max_exposure_ms)"/>

        <!-- Compressed image transport was causing SIGBUS.  Wha...?
             Disable most image_transports. -->
        <param name="left.image_raw.enable_pub_plugins" value='["image_transport/raw"]'/>
        <param name="right.image_raw.enable_pub_plugins" value='["image_transport/raw"]'/>


    </node>


</launch>