From be5eafe0fccfa4c5a54bf891e9884b0634c2eff4 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Wed, 8 Apr 2015 18:31:08 +0900
Subject: [PATCH] [jsk_hrp2_ros_bridge/hrp2016.launch] Update hrp2016.launch to
 see chest camera color image

---
 jsk_hrp2_ros_bridge/launch/hrp2016.launch | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/jsk_hrp2_ros_bridge/launch/hrp2016.launch b/jsk_hrp2_ros_bridge/launch/hrp2016.launch
index 137d43a3..2796d1c9 100644
--- a/jsk_hrp2_ros_bridge/launch/hrp2016.launch
+++ b/jsk_hrp2_ros_bridge/launch/hrp2016.launch
@@ -22,8 +22,14 @@
   <node pkg="jsk_calibration" type="joint_states_appender.py" name="joint_states_appender" />
 
   <!-- For chest camera -->
+  <node pkg="prosilica_camera" type="prosilica_node" name="chest_camera">
+    <rosparam>
+      gain_auto_max: 12
+    </rosparam>
+    <remap from="camera" to="chest_camera" />
+  </node>
   <group ns="chest_camera">
-    <node pkg="prosilica_camera" type="prosilica_node" name="prosilica_node">
+    <node pkg="image_proc" type="image_proc" name="chest_camera_image_proc">
     </node>
   </group>
 </launch>