camera1394 from launch

edit

When I attempt to roslaunch a camera1394 node with a camera.yaml file, I get the following error:

yaml-cpp: error at line 1, column 1: key not found: image_width This indicates that the camera is uncalibrated, which it is. Unfortunately this means that I can't get color images working, despite having determined bayer patterns and the like. At the moment, I don't want to have to calibrate the camera, but would like the color images out of the camera1394 node. Is there a way to run the camera1394 node without the calibration portion?

Here is my launch file:

 <launch>

  <group ns="ffmv">
    <node pkg="camera1394" type="camera1394_node" name="ffmv">
      <param name="guid" value="00b09d0100a80b41" />
      <param name="video_mode" value="640x480_mono8" />
      <param name="iso_speed" value="400" />
      <param name="frame_rate" value="30" />
      <param name="bayer_pattern" value="rggb" />
      <param name="bayer_method" value="" />
      <param name="camera_info_url" value="file:///home/bradpowers/ros/ros_tutorials/cv_bench/params/ffmv.yaml" />
    </node>

    <node pkg="image_view" type="image_view" name="image_view" >
      <remap from="image" to="camera/image_raw"/>
    </node>

    <!-- Debugging Tools -->
    <node pkg="rxtools" type="rxconsole" name="rxconsole" />
    <node pkg="dynamic_reconfigure" type="reconfigure_gui"
          name="reconfigure_gui" />

  </group>

</launch>

And my corresponding ffmv.yaml file:

{auto_brightness: 2, auto_exposure: 2, auto_focus: 5, auto_gain: 2, auto_gamma: 0,
  auto_hue: 5, auto_iris: 5, auto_saturation: 5, auto_sharpness: 5, auto_shutter: 2,
  auto_white_balance: 3, auto_zoom: 5, bayer_method: '', bayer_pattern: rggb, binning_x: 0,
  binning_y: 0, brightness: 138.0, camera_info_url: '', exposure: 0.0, focus: 0.0,
  format7_color_coding: mono8, format7_packet_size: 0, frame_id: /camera, frame_rate: 60.0,
  gain: 12.041193008422852, gamma: 1.2000000000000002, guid: 00b09d0100a80b41, hue: 0.0,
  iris: 8.0, iso_speed: 400, reset_on_open: false, roi_height: 0, roi_width: 0, saturation: 1.0,
  sharpness: 1.0, shutter: 0.066243231296539307, use_ros_time: true, video_mode: 640x480_mono8,
  white_balance_BU: 512.0, white_balance_RV: 512.0, x_offset: 0, y_offset: 0, zoom: 0.0}

Thanks!