v4l2_36h11.launch.yml

launch:
- arg:
    name: device
    default: "0"

- node_container:
    pkg: rclcpp_components
    exec: component_container
    name: apriltag_container
    namespace: ""
    composable_node:
    - pkg: v4l2_camera
      plugin: v4l2_camera::V4L2Camera
      name: camera
      namespace: v4l2
      param:
      - name: video_device
        value: /dev/video$(var device)
      extra_arg:
      - name: use_intra_process_comms
        value: "True"

    - pkg: image_proc
      plugin: image_proc::RectifyNode
      name: rectify
      namespace: v4l2
      remap:
      - from: image
        to: image_raw
      extra_arg:
      - name: use_intra_process_comms
        value: "True"

    - pkg: apriltag_ros
      plugin: AprilTagNode
      name: apriltag
      namespace: apriltag
      remap:
      - from: /apriltag/image_rect
        to: /v4l2/image_rect
      - from: /apriltag/camera_info
        to: /v4l2/camera_info
      param:
      - from: $(find-pkg-share apriltag_ros)/cfg/tags_36h11.yaml
      extra_arg:
      - name: use_intra_process_comms
        value: "True"