Introduction

This package is a fork of isaac_ros_argus_camera with a launch file (isaac_ros_argus_camera_mono.launch.py) that allows specifying the mode of the camera to use (v4l2-ctl --list-formats-ext to see the modes). The default is to use mode 0, which is the highest resolution. Since we use the camera mainly for YOLO which doesn’t need such high resolution, it is wasteful to have it publish it and use more power to transport the data.

Running

To run the downwards camera, launch it with

ros2 launch argus-kitten isaac_ros_argus_camera_mono.launch.py

Extra note

This could (and should, really) be refactored to just be a copy of the launch file with the modifications made, and put in a package like vision_package.