Fix/image dimensions

[JonSmet]

PR Details

Description

This PR reduces the image dimensions specified in the mono_camera.launch file. When using the previous image dimensions, the frequency at which images were forwarded to the carma system reached low enough rates (as measured by rostopic hz /hardware_interface/camera/image_raw) that the carma system would shutdown due to a 'camera failed' error. By reducing the image dimensions, the frequency at which images are received remains at a high enough rate that the error does not occur.

Due to these updated image dimensions, the camera and lidar on carma vehicles will need to be recalibrated. This is captured in Issue #1241: Recalibrate camera and lidar due to updated image dimensions in avt_vimba_driver's mono_camera.launch file

Related Issue

Motivation and Context

By reducing the image dimensions, the frequency at which images are received by the carma system remains at a high enough rate that a 'camera failed' issue does not occur.

How Has This Been Tested?

This has been tested on the Blue Lexus.

Types of changes

• Defect fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that cause existing functionality to change)

Checklist:

• I have added any new packages to the sonar-scanner.properties file
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
  CARMA Contributing Guide
• I have added tests to cover my changes.
• All new and existing tests passed.

[sonarcloud]

Kudos, SonarCloud Quality Gate passed!

0 Bugs
0 Vulnerabilities
0 Security Hotspots
0 Code Smells

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