Vehicle-cpp/Nav/autoware_src/autoware/utilities/runtime_manager/scripts/avt_camera.launch

<launch>
    <arg name="guid" default=""/>
    <arg name="ip" default=""/>
    <arg name="camera_info_url" default=""/>
    <arg name="frame_id" default="avt_camera"/>
    <arg name="trig_timestamp_topic" default=""/>
    <arg name="show_debug_prints" default="true"/>

    <arg name="trigger_source" default="FixedRate"/>

    <arg name="acquisition_mode" default="Continuous"/>
    <arg name="acquisition_rate" default="20"/>

    <arg name="pixel_format" default="BayerRG8"/>

    <arg name="exposure" default="10000"/>
    <arg name="gain" default="15"/>

    <arg name="exposure_auto" default="Continuous"/>
    <arg name="gain_auto" default="Continuous"/>
    <arg name="whitebalance_auto" default="Continuous"/>

    <arg name="exposure_auto_max" default="50000"/>
    <arg name="gain_auto_max" default="50"/>

    <arg name="binning_x" default="1"/>
    <arg name="binning_y" default="1"/>
    <arg name="decimation_x" default="1"/>
    <arg name="decimation_y" default="1"/>
    <arg name="x_offset" default="0"/>
    <arg name="y_offset" default="0"/>

    <arg name="width" default="1920"/>
    <arg name="height" default="1440"/>

    <arg name="stream_bytes_per_second" default="45000000"/>

    <group ns="avt_camera">
        <node name="image_proc" pkg="image_proc" type="image_proc"/>
    </group>

    <node name="avt_camera" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
        <param name="guid" value="$(arg guid)"/>
        <param name="ip" value="$(arg ip)"/>
        <param name="camera_info_url" value="$(arg camera_info_url)"/>
        <param name="frame_id" value="$(arg frame_id)"/>
        <param name="trig_timestamp_topic" value="$(arg trig_timestamp_topic)"/>
        <param name="show_debug_prints" value="$(arg show_debug_prints)"/>

        <!-- Trigger mode:
            1. Freerun
            2. SyncIn1
            3. SyncIn2
            4. SyncIn3
            5. SyncIn4
            6. FixedRate
            7. Software
        -->
        <param name="trigger_source" value="$(arg trigger_source)"/>

        <!-- Acquisition mode:
            1. Continuous
            2. SingleFrame
            3. MultiFrame
            4. Recorder
        -->
        <param name="acquisition_mode" value="$(arg acquisition_mode)"/>

        <!-- Acquisition rate in fps -->
        <param name="acquisition_rate" value="$(arg acquisition_rate)"/>

        <!-- Pixel format:
            1. Mono8
            2. Mono12
            3. Mono12Packed
            4. BayerRG8
            5. BayerRG12Packed
            6. BayerGR12
            7. RGB8Packed
            8. BGR8Packed
        -->
        <param name="pixel_format" value="$(arg pixel_format)"/>
        <!-- Exposure in us -->
        <param name="exposure" value="$(arg exposure)"/>
        <!-- Gain in dB -->
        <param name="gain" value="$(arg gain)"/>

        <!-- Auto control
            1. Off
            2. Once
            3. Continuous
        -->
        <param name="exposure_auto" value="$(arg exposure_auto)"/>
        <param name="gain_auto" value="$(arg gain_auto)"/>
        <param name="whitebalance_auto" value="$(arg whitebalance_auto)"/>

        <param name="exposure_auto_max" value="$(arg exposure_auto_max)"/>
        <param name="gain_auto_max" value="$(arg gain_auto_max)"/>

        <param name="binning_x" value="$(arg binning_x)"/>
        <param name="binning_y" value="$(arg binning_y)"/>
        <param name="decimation_x" value="$(arg decimation_x)"/>
        <param name="decimation_y" value="$(arg decimation_y)"/>
        <param name="x_offset" value="$(arg x_offset)"/>
        <param name="y_offset" value="$(arg y_offset)"/>
        <param name="width" value="$(arg width)"/>
        <param name="height" value="$(arg height)"/>

        <param name="stream_bytes_per_second" value="$(arg stream_bytes_per_second)"/>
    </node>

</launch>