<launch>
	<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
	<param name="video_device" value="/dev/video0" />
	<param name="image_width" value="640" />
	<param name="image_height" value="480" />
	<param name="pixel_format" value="yuyv" />
	<param name="camera_frame_id" value="usb_cam" />
	<param name="io_method" value="mmap"/>
	</node>

	<node name="pub_compressed_image" pkg="image_transport" type="republish" args="raw in:=/usb_cam/image_raw compressed out:=/usb_cam/image_compressed">
		<remap from="/usb_cam/image_compressed/compressed" to="/compressed_image"/>
	</node>

	<node pkg="web_video_server" type="web_video_server" name="web_video_server"/>
</launch>
