============== |package_name| ============== :ir_github:` ` API ---- HawkNode ~~~~~~~~~~~~~~~~~~~ ROS Parameters ^^^^^^^^^^^^^^ ============================ ================ =================== =========================================================================================================================================================================================== ROS Parameter Type Default Description ============================ ================ =================== =========================================================================================================================================================================================== ``camera_id`` ``uint`` ``0`` The video device index E.g. ``/dev/video0`` ``module_id`` ``uint`` ``0`` The camera module index in the device tree when there is more than one of the same camera module connected ``mode`` ``uint`` ``0`` The resolution mode supported by the camera sensor and driver. ``fsync_type`` ``uint`` ``1`` Specifies what kind of Frame Synchronization to use, supported values are 0 for internal and 1 for external. For e3653 boards (carter 2.3) choose 0, for p3762 boards (carter 2.4) choose 1 ``camera_type`` ``uint`` ``0`` 0 for Monocular type camera. ``camera_link_frame_name`` ``string`` ``camera`` The frame name associated with the origin of the camera body. ``left_optical_frame_name`` ``string`` ``left_cam`` The frame name associated with the left imager inside camera body. ``right_optical_frame_name`` ``string`` ``right_cam`` The frame name associated with the right imager inside camera body. ``left_camera_info_url`` ``string`` N/A Optional URL of a camera info ``.ini`` file to read intrinsic information. ``right_camera_info_url`` ``string`` N/A Optional URL of a camera info ``.ini`` file to read intrinsic information. ============================ ================ =================== =========================================================================================================================================================================================== ROS Topics Subscribed ^^^^^^^^^^^^^^^^^^^^^ ========================== ================================================================================================================================ =================================== ROS Topic Interface Description ========================== ================================================================================================================================ =================================== ``correlated_timestamp`` :ir_repo:`isaac_ros_nova_interfaces::msg::FlatScan ` Timestamp correlation data. ========================== ================================================================================================================================ =================================== ROS Topics Published ^^^^^^^^^^^^^^^^^^^^ ===================== ================================================================================================================= ================================= ROS Topic Interface Description ===================== ================================================================================================================= ================================= ``left/image_raw`` `sensor_msgs/Image `__ The left image of a stereo pair. ``left/camerainfo`` `sensor_msgs/CameraInfo `__ The left camera model. ``right/image_raw`` `sensor_msgs/Image `__ The right image of a stereo pair. ``right/camerainfo`` `sensor_msgs/CameraInfo `__ The right camera model. ===================== ================================================================================================================= ================================= .. |package_name| replace:: ``isaac_ros_hawk``