ros_caffe_webcam_uvc.launch

<launch>

	<arg name="image" default="/camera/rgb/image_raw" />
	<arg name="camera_info" default="/camera/rgb/camera_info" />
	<arg name="predictions" default="/ros_caffe/predictions" />

	<env name="ROSCONSOLE_CONFIG_FILE" value="$(find ros_caffe)/cfg/custom_rosconsole.conf"/>

	<node name="usb_cam" pkg="uvc_camera" type="uvc_camera_node" output="screen" >
		<param name="video_device" value="/dev/video0" />
		<param name="image_width" value="640" />
		<param name="image_height" value="480" />
		<param name="pixel_format" value="mjpeg" />
		<param name="camera_frame_id" value="usb_cam" />
		<param name="io_method" value="mmap"/>
		<remap from="image_raw" to="/camera/rgb/image_raw" />
		<remap from="camera_info" to="/camera/rgb/camera_info" />
	</node>

	<node pkg="ros_caffe" type="ros_caffe_node" name="ros_caffe" output="screen">
		<param name="model_path"    value="$(find ros_caffe)/data/deploy.prototxt"/>
		<param name="weights_path"  value="$(find ros_caffe)/data/bvlc_reference_caffenet.caffemodel"/>
		<param name="mean_file"     value="$(find ros_caffe)/data/imagenet_mean.binaryproto"/>
		<param name="label_file"    value="$(find ros_caffe)/data/synset_words.txt"/>

		<remap from="~image"        to="$(arg image)"/>
		<remap from="~camera_info"  to="$(arg camera_info)"/>
		<remap from="~predictions"  to="$(arg predictions)"/>
	</node>

	<!-- view the visualization -->
	<node name="rqt_viewer" pkg="rqt_image_view" type="rqt_image_view" />

</launch>