# saltybot_cameras — CSI camera parameters
# Applied to each v4l2_camera node via launch args

# Image dimensions (per camera)
image_width: 640
image_height: 480
framerate: 30.0

# V4L2 pixel format for IMX219 raw Bayer
# Use YUYV for processed output (default from v4l2_camera)
# Use RG10 for raw Bayer (requires ISP processing)
pixel_format: "YUYV"

# Camera info URL template (set per-camera in launch file)
# camera_info_url: "file:///config/camera_{name}_info.yaml"

# Sensor head geometry (metres)
# Used by camera_tf.launch.py for static TF
sensor_head_radius: 0.05

# Camera positions (yaw degrees, CCW positive)
cameras:
  front:
    device: "/dev/video0"
    frame_id: "camera_front_link"
    x_offset: 0.05
    y_offset: 0.00
    yaw_deg: 0.0
  left:
    device: "/dev/video2"
    frame_id: "camera_left_link"
    x_offset: 0.00
    y_offset: 0.05
    yaw_deg: 90.0
  rear:
    device: "/dev/video4"
    frame_id: "camera_rear_link"
    x_offset: -0.05
    y_offset: 0.00
    yaw_deg: 180.0
  right:
    device: "/dev/video6"
    frame_id: "camera_right_link"
    x_offset: 0.00
    y_offset: -0.05
    yaw_deg: -90.0
