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This node continuously requests data from a camera node. The results are published on the corresponding topics of the camera node.

Parameters

~rate (double, default: 0.5)

• The rate at which new data is requested.

~parameter_set (string, default: "")

• The name of the parameter set that is used for capturing images.

~raw_images (bool, default: true)

• Whether the raw images should be published.

~rectified_images (bool, default: true)

• Whether the rectified images should be published.

~disparity_map (bool, default: true)

• Whether the disparity map should be published.

~point_cloud (bool, default: true)

• Whether the point cloud should be computed and published.

~normals (bool, default: true)

• Whether the normals should be computed and published. This parameter automatically includes the point cloud.

~depth_image (bool, default: true)

• Whether the rectified depth image should be published. This parameter automatically includes the point cloud.

~timeout (double, default: 60)

• A timeout for waiting for the camera node to become available.