The framerate of ArgusMonoNode was hardcoded to 30 fps in argus_camera_mono_node.yaml and likewise with argus_camera_stereo_node.yaml. If I need to change into a sensor mode with 60 FPS, instead of modifying those files in the repo's config folder, it is convenient to expose that as a ROS parameter as done with mode_ and others.

I have tested this with dual IMX676s, putting them into mode 2 (1776x1778 @ 60 FPS). With this parameter unlocked and set to 60 FPS in my launch file, I can now subscribe to downstream NitrosImages at full 60 FPS, and if I reduce the parameter setting it also reduces the framerate accordingly.

Would love to see this added in the next isaac_ros release!

Example usage in launch file:

left_argus_mono_node = ComposableNode(
    name='argus_mono_left',
    package='isaac_ros_argus_camera',
    plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
    parameters=[{
        'camera_id':0,
        'mode':2,
        'framerate':60,
        'use_hw_timestamp':True,
        'camera_info_url':'file:///workspaces/isaac_ros-dev/calib.yaml'
    }],
)