sample.launch

<launch>
  <arg name="sample"/>
  <arg name="serial_number" default="" description="Serial number of camera to connect to"/>

  <!-- For infield correction -->
  <arg name="operation" default=""/>

  <!-- For hand-eye calibration -->
  <arg name="configuration" default=""/>
  <arg name="marker_ids" default="[-1]"/> <!-- Empty integer arrays cannot be specified, using -1 as a placeholder. -->
  <arg name="working_directory" default=""/>

  <!-- For projection -->
  <arg name="image_path" default=""/>

  <node pkg="zivid_camera" exec="zivid_camera" name="zivid_camera">
    <param name="serial_number" value="$(var serial_number)"/>
  </node>

  <node pkg="zivid_samples" exec="$(var sample)" name="zivid_sample">
    <param name="operation" value="$(var operation)"/>
    <param name="configuration" value="$(var configuration)"/>
    <param name="marker_ids" value="$(var marker_ids)"/>
    <param name="working_directory" value="$(var working_directory)"/>
    <param name="image_path" value="$(var image_path)"/>
  </node>

  <!-- Specify the Zivid camera model for the URDF. See available options in `README.md`. -->
  <arg name="model" default="ZIVID_2_M70" />
  <!-- Specify the visibility of the field of view of the camera model for the URDF. -->
  <arg name="field_of_view" default="false" />
  <node pkg="robot_state_publisher" name="robot_state_publisher" exec="robot_state_publisher">
    <param
      name="robot_description"
      value="$(command '$(find-exec xacro) $(find-pkg-share zivid_description)/urdf/zivid_camera.urdf.xacro model:=$(var model) field_of_view:=$(var field_of_view)')"
    />
  </node>
</launch>