<launch>
  <arg name="work_dir" default="/data"/>
  <arg name="cam_sync_with_ros" default="0"/>
  <arg name="min_camera_delay"  default="30"/>
  <arg name="max_camera_delay"  default="130"/>
  <arg name="drop_not_synced"   default="0"/>
  <arg name="show_info"         default="0"/>
  
  <!--- launch-prefix="xterm -fa 'Monospace' -fs 14 -e"  respawn="true"-->
  <node name="cam00" pkg="usb_cam" type="usb_cam_node" output="screen" respawn="true">
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="1920" />
    <param name="image_height" value="1080" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam_left" />
    <param name="io_method" value="mmap"/>
    <param name="framerate" value="30" />
    
    <!-- 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)"/>  
    <param name="show_info"         type="int"  value="$(arg show_info)"/> 
  </node>
     
  <node name="cam02" pkg="usb_cam" type="usb_cam_node" output="screen" respawn="true">
    <param name="video_device" value="/dev/video2" />
    <param name="image_width" value="1920" />
    <param name="image_height" value="1080" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam_right" />
    <param name="io_method" value="mmap"/>
    <param name="framerate" value="30" />
    
    <!-- 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)"/>
    <param name="show_info"         type="int"  value="$(arg show_info)"/>  
  </node>
</launch>
