stereo_camera.launch

<?xml version="1.0"?>
<launch>
	<arg name="device" default="/dev/elp_stereo" />

    <arg name="pi/2" value="1.5707963267948966" />

    <node pkg="tf" type="static_transform_publisher" name="stereo_camera_2_base_link"
        args="0.23 0 0.17 0 0 0 base_link stereo_camera_link 100" /> 

    <node pkg="tf" type="static_transform_publisher" name="stereo_camera_of_2_stereo_link"
        args="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) stereo_camera_link stereo_camera_optical_frame 100" /> 

    <include file="$(find elp_stereo_camera)/launch/camera_driver_elp.launch">
        <arg name="camera_name" value="stereo_camera" />
        <arg name="tf_frame_name" value="stereo_camera_optical_frame" />
        <arg name="video_device" value="$(arg device)" />
        <arg name="calib_data_path" value="$(find wr8_software)/calib/elp_stereo" />
        <arg name="camera_info" value="true" />
    </include>

    <node name="frequency_converter_stereo" pkg="frequency_converter" type="frequency_converter_node" output="screen">
      <param name="frequency" value="10"/>
      <param name="in_stereo_ns" value="stereo_camera"/>
      <param name="out_stereo_ns" value="stereo_camera_converted"/>
    </node>

    <node ns="stereo_camera_converted" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" output="screen">
        <!-- Modified defaults -->
        <param name="speckle_range" value="4" />
        <param name="min_disparity" value="-24" />
        <param name="disparity_range" value="96" />
        <param name="stereo_algorithm" value="0" />
    </node>

    <!-- Included to have same parameters as set for driver -->
    <include file="$(find wr8_software)/launch/base/stereo_2_laserscan.launch">
        <arg name="stereo_cloud" value="stereo_camera_converted/points2" />
        <arg name="target_frame" value="stereo_camera_link" />
    </include>
</launch>