Change left hand to usb_cam

Author: Michi-Tsubaki

nextage_tutorials/launch/jsk_nextage_master.launch

@@ -1,9 +1,9 @@
 <launch>
   <arg name="node_start_delay" default="2.0" />  
-  <include file="$(find nextage_tutorials)/launch/l515_head.launch" >
+<!--  <include file="$(find nextage_tutorials)/launch/l515_head.launch" >
   </include>
-
-  <include file="$(find nextage_tutorials)/launch/d405_lhand.launch" >
+-->
+  <include file="$(find nextage_tutorials)/launch/lhand_camera.launch" >
   </include>
 
   <include file="$(find nextage_tutorials)/launch/dual_touch.launch" >

nextage_tutorials/launch/lhand_camera.launch

@@ -0,0 +1,55 @@
+<launch>
+  <arg name="image_view" default="false" />
+
+  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">
+    <rosparam>
+      start_service_name: "start_capture"
+      stop_service_name: "stop_capture"
+
+      video_device: /dev/lhand_camera
+      io_method: mmap
+      pixel_format: mjpeg
+      color_format: yuv422p
+      create_suspended: false
+      full_ffmpeg_log: false
+
+      camera_name: lhand_camera
+      camera_frame_id: d405_lhand
+      camera_transport_suffix: image_raw
+      camera_info_url: ""
+
+      image_width: 640
+      image_height: 480
+      framerate: 30
+
+      intrinsic_controls:
+        focus_auto: true
+        exposure_auto_priority: true
+        exposure_auto: 3
+        white_balance_temperature_auto: true
+        power_line_frequency: 1
+        ignore:
+          - brightness
+          - contrast
+          - saturation
+          - gain
+          - sharpness
+          - backlight_compensation
+          - white_balance_temperature
+          - exposure_absolute
+          - pan_absolute
+          - tilt_absolute
+          - focus_absolute
+          - zoom_absolute
+    </rosparam>
+  </node>
+
+  <node if="$(arg image_view)"
+        name="image_view"
+        pkg="image_view"
+        type="image_view"
+        output="screen">
+    <remap from="image" to="/usb_cam/image_raw"/>
+    <param name="autosize" value="true" />
+  </node>
+</launch>