<launch>
     <arg name="work_dir" default="/data"/>
     <arg name="cam_sync_with_ros" default="0"/>
     <arg name="min_camera_delay"  default="20"/>
     <arg name="max_camera_delay"  default="100"/>
     <arg name="drop_not_synced"   default="0"/>
     
     <node name="cam00" pkg="galaxy_camera" type="galaxy_camera" output="screen">
        <param name="image_width" value="1280"/>
        <param name="image_height" value="1024"/>
        <param name="pixel_format" value="bgr8"/>
        <param name="camera_info_url" value=""/>
        <param name="camera_name" value="GC0210060112"/>
        <param name="camera_frame_id" value="cam00"/>
        <param name="trigger_open" value="true"/>
        
		<!-- Work Dir -->
        <param name="work_dir"  type="string" value="$(arg work_dir)"/>
        
        <!-- Time Sync -->
        <param name="camera_id" type="int" value="0"/>
        <param name="sync_with_ros"     type="int"  value="$(arg cam_sync_with_ros)"/>
        <param name="min_camera_delay"  type="int"  value="$(arg min_camera_delay)"/>
        <param name="max_camera_delay"  type="int"  value="$(arg max_camera_delay)"/>
        <param name="drop_not_synced"   type="int"  value="$(arg drop_not_synced)"/>
        
         <!-- Exposure -->
        <param name="exposure_auto" value="true"/>
        <param name="exposure_value" value="20000"/>
        <param name="exposure_min" value="10"/>
        <param name="exposure_max" value="200000"/>

        <!-- Gain -->
        <param name="gain_auto" value="true"/>
        <param name="gain_value" value="2"/>
        <param name="gain_min" value="0"/>
        <param name="gain_max" value="24"/>

        <!-- Frame rate -->
        <param name="frame_rate" value="10"/>

        <!-- White balance -->
        <param name="white_auto" value="true"/>
        <!-- 0, 1, 2 for red, green, blue-->
        <param name="white_selector" value="0"/>
        <param name="white_value" value="1"/>
    </node>
    
     <node name="cam02" pkg="galaxy_camera" type="galaxy_camera" output="screen">
        <param name="image_width" value="1280"/>
        <param name="image_height" value="1024"/>
        <param name="pixel_format" value="bgr8"/>
        <param name="camera_info_url" value=""/>
        <param name="camera_name" value="GC0210060111"/>
        <param name="camera_frame_id" value="cam02"/>
        <param name="trigger_open" value="true"/>
        
		<!-- Work Dir -->
        <param name="work_dir"  type="string" value="$(arg work_dir)"/>
        
        <!-- Time Sync -->
        <param name="camera_id" type="int" value="2"/>
        <param name="sync_with_ros"     type="int"  value="$(arg cam_sync_with_ros)"/>
		<param name="min_camera_delay"  type="int"  value="$(arg min_camera_delay)"/>
		<param name="max_camera_delay"  type="int"  value="$(arg max_camera_delay)"/>
		<param name="drop_not_synced"   type="int"  value="$(arg drop_not_synced)" />
        
         <!-- Exposure -->
        <param name="exposure_auto" value="true"/>
        <param name="exposure_value" value="20000"/>
        <param name="exposure_min" value="10"/>
        <param name="exposure_max" value="200000"/>

        <!-- Gain -->
        <param name="gain_auto" value="true"/>
        <param name="gain_value" value="2"/>
        <param name="gain_min" value="0"/>
        <param name="gain_max" value="24"/>

        <!-- Frame rate -->
        <param name="frame_rate" value="10"/>

        <!-- White balance -->
        <param name="white_auto" value="true"/>
        <!-- 0, 1, 2 for red, green, blue-->
        <param name="white_selector" value="0"/>
        <param name="white_value" value="1"/>
    </node>
    
     <node name="cam03" pkg="galaxy_camera" type="galaxy_camera" output="screen">
        <param name="image_width" value="1280"/>
        <param name="image_height" value="1024"/>
        <param name="pixel_format" value="bgr8"/>
        <param name="camera_info_url" value=""/>
        <param name="camera_name" value="KE0200110069"/>
        <param name="camera_frame_id" value="cam03"/>
        <param name="trigger_open" value="true"/>
        
		<!-- Work Dir -->
        <param name="work_dir"  type="string" value="$(arg work_dir)"/>
        
        <!-- Time Sync -->
        <param name="camera_id" type="int" value="3"/>
        <param name="sync_with_ros"     type="int"  value="$(arg cam_sync_with_ros)"/>
		<param name="min_camera_delay"  type="int"  value="$(arg min_camera_delay)"/>
		<param name="max_camera_delay"  type="int"  value="$(arg max_camera_delay)"/>
		<param name="drop_not_synced"   type="int"  value="$(arg drop_not_synced)" />
        
         <!-- Exposure -->
        <param name="exposure_auto" value="true"/>
        <param name="exposure_value" value="20000"/>
        <param name="exposure_min" value="10"/>
        <param name="exposure_max" value="200000"/>

        <!-- Gain -->
        <param name="gain_auto" value="true"/>
        <param name="gain_value" value="2"/>
        <param name="gain_min" value="0"/>
        <param name="gain_max" value="24"/>

        <!-- Frame rate -->
        <param name="frame_rate" value="10"/>

        <!-- White balance -->
        <param name="white_auto" value="true"/>
        <!-- 0, 1, 2 for red, green, blue-->
        <param name="white_selector" value="0"/>
        <param name="white_value" value="1"/>
    </node>
    
     <node name="cam01" pkg="galaxy_camera" type="galaxy_camera" output="screen">
        <param name="image_width" value="1280"/>
        <param name="image_height" value="1024"/>
        <param name="pixel_format" value="bgr8"/>
        <param name="camera_info_url" value=""/>
        <param name="camera_name" value="KE0200110070"/>
        <param name="camera_frame_id" value="cam01"/>
        <param name="trigger_open" value="true"/>
        
		<!-- Work Dir -->
        <param name="work_dir"  type="string" value="$(arg work_dir)"/>
        
        <!-- Time Sync -->
        <param name="camera_id" type="int" value="1"/>
        <param name="sync_with_ros"     type="int"  value="$(arg cam_sync_with_ros)"/>
		<param name="min_camera_delay"  type="int"  value="$(arg min_camera_delay)"/>
		<param name="max_camera_delay"  type="int"  value="$(arg max_camera_delay)"/>
		<param name="drop_not_synced"   type="int"  value="$(arg drop_not_synced)" />
        
         <!-- Exposure -->
        <param name="exposure_auto" value="true"/>
        <param name="exposure_value" value="20000"/>
        <param name="exposure_min" value="10"/>
        <param name="exposure_max" value="200000"/>

        <!-- Gain -->
        <param name="gain_auto" value="true"/>
        <param name="gain_value" value="2"/>
        <param name="gain_min" value="0"/>
        <param name="gain_max" value="24"/>

        <!-- Frame rate -->
        <param name="frame_rate" value="10"/>

        <!-- White balance -->
        <param name="white_auto" value="true"/>
        <!-- 0, 1, 2 for red, green, blue-->
        <param name="white_selector" value="0"/>
        <param name="white_value" value="1"/>
    </node>
    
</launch>
