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Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~trigger_mode (str, default: streaming)

• Camera trigger mode. Possible values are: StreamingMode (streaming): Run at maximum frame rate, PolledMode (polled): Capture frame in response to service call, External1Mode (syncin1): External trigger on SyncIn1 line, External2Mode (syncin2): External trigger on SyncIn2 line

~auto_exposure (bool, default: True)

• Sets the camera exposure duration to automatic. Causes the ~exposure setting to be ignored.

~exposure (double, default: 0.025)

• Camera exposure time in seconds. Range: 2.5e-05 to 60.0

~auto_gain (bool, default: True)

• Sets the analog gain to automatic. Causes the ~gain setting to be ignored.

~gain (int, default: 0)

• The gain level in dB. Range: 0 to 24

~auto_whitebalance (bool, default: True)

• Whether whitebalance will continuously adjust to the current scene. Causes the ~whitebalance_red and ~whitebalance_blue settings to be ignored.

~whitebalance_red (int, default: 100)

• Red gain as a percentage of the camera default setting. Range: 80 to 300

~whitebalance_blue (int, default: 100)

• Blue gain as a percentage of the camera default setting. Range: 80 to 300

~binning_x (int, default: 1)

• Number of pixels to bin together horizontally. Range: 1 to 8

~binning_y (int, default: 1)

• Number of pixels to bin together vertically. Range: 1 to 14

~x_offset (int, default: 0)

• X offset of the region of interest. Range: 0 to 2447

~y_offset (int, default: 0)

• Y offset of the region of interest. Range: 0 to 2049

~width (int, default: 0)

• Width of the region of interest (0 for automatic). Range: 0 to 2448

~height (int, default: 0)

• Height of the region of interest (0 for automatic). Range: 0 to 2050

~frame_id (str, default: )

• The optical camera TF frame set in message headers.

~trig_timestamp_topic (str, default: )

• Sets the topic from which an externally trigged camera receives its trigger timestamps.

~trig_rate (double, default: 15.0)

• Sets the expected triggering rate in externally triggered mode. Range: 1.0 to 100.0