<launch>
  <arg name="camera_name" />
  <arg name="video_device" />
  <arg name="height" />
  <arg name="width" />
  <arg name="video_mode" />
  <arg name="frame_rate" />
  <arg name="brightness" />
  <arg name="gui" default="false" />
  <arg name="frame_id" default="$(arg camera_name)_link" />

  <node pkg="usb_cam" type="usb_cam_node" name="$(arg camera_name)">
    <rosparam subst_value="true">
      video_device: $(arg video_device)
      image_height: $(arg height)
      image_width: $(arg width)
      pixel_format: $(arg video_mode)
      framerate: $(arg frame_rate)
      brightness: $(arg brightness)
      camera_frame_id: $(arg frame_id)
    </rosparam>
  </node>

  <node name="$(anon image_view)" pkg="image_view" type="image_view"
        args="image:=$(arg camera_name)/image_raw" if="$(arg gui)" />
</launch>
