From 7cf14373b0684671882fffe73726440353028ff0 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 11 Oct 2023 00:51:02 +0300
Subject: [PATCH] main_camera.launch: argument for running image rectification
 nodelet

---
 clover/launch/main_camera.launch | 8 ++++++++
 clover/package.xml               | 1 +
 2 files changed, 9 insertions(+)

diff --git a/clover/launch/main_camera.launch b/clover/launch/main_camera.launch
index 8e932ce48..0b97e1dda 100644
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -6,6 +6,7 @@
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
     <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
     <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
+    <arg name="rectify" default="false"/> <!-- enable rectification -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -49,4 +50,11 @@
     <!-- image topic throttled -->
     <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
         args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
+
+    <!-- rectified image topic -->
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
 </launch>
diff --git a/clover/package.xml b/clover/package.xml
index 98bfbfb39..397ea808a 100644
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -42,6 +42,7 @@
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend>image_proc</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <test_depend>ros_pytest</test_depend>