<launch>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="realsense2_camera_manager"/>
  <arg name="serial_no"           default=""/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default=""/>
  <arg name="tf_prefix"           default=""/>
  <arg name="json_file_path"      default=""/>
  <arg name="rosbag_filename"     default=""/>
  <arg name="required"            default="false"/>
  <arg name="output"              default="screen"/>  <!-- [ screen | log ]-->
  <arg name="respawn"             default="false"/>

  <arg name="fisheye_width"       default="0"/>
  <arg name="fisheye_height"      default="0"/>
  <arg name="enable_fisheye"      default="false"/>
  <arg name="enable_fisheye1"     default="false"/>
  <arg name="enable_fisheye2"     default="false"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="confidence_width"    default="640"/>
  <arg name="confidence_height"   default="480"/>
  <arg name="enable_confidence"   default="true"/>
  <arg name="confidence_fps"      default="30"/>

  <arg name="infra_width"         default="640"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra"        default="false"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>
  <arg name="infra_rgb"           default="false"/>

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="0"/>
  <arg name="accel_fps"           default="0"/>
  <arg name="enable_gyro"         default="false"/>
  <arg name="enable_accel"        default="false"/>
  <arg name="enable_pose"         default="false"/>

  <arg name="enable_pointcloud"   default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>  <!-- use RS2_STREAM_ANY to avoid using texture -->
  <arg name="pointcloud_texture_index"  default="0"/>
  <arg name="allow_no_texture_points"  default="false"/>
  <arg name="ordered_pc"               default="false"/>

  <arg name="enable_sync"         default="false"/>
  <arg name="align_depth"         default="false"/>

  <arg name="base_frame_id"             default="$(arg tf_prefix)_link"/>
  <arg name="depth_frame_id"            default="$(arg tf_prefix)_depth_frame"/>
  <arg name="infra1_frame_id"           default="$(arg tf_prefix)_infra1_frame"/>
  <arg name="infra2_frame_id"           default="$(arg tf_prefix)_infra2_frame"/>
  <arg name="color_frame_id"            default="$(arg tf_prefix)_color_frame"/>
  <arg name="fisheye_frame_id"          default="$(arg tf_prefix)_fisheye_frame"/>
  <arg name="fisheye1_frame_id"         default="$(arg tf_prefix)_fisheye1_frame"/>
  <arg name="fisheye2_frame_id"         default="$(arg tf_prefix)_fisheye2_frame"/>
  <arg name="accel_frame_id"            default="$(arg tf_prefix)_accel_frame"/>
  <arg name="gyro_frame_id"             default="$(arg tf_prefix)_gyro_frame"/>
  <arg name="pose_frame_id"             default="$(arg tf_prefix)_pose_frame"/>

  <arg name="depth_optical_frame_id"    default="$(arg tf_prefix)_depth_optical_frame"/>
  <arg name="infra1_optical_frame_id"   default="$(arg tf_prefix)_infra1_optical_frame"/>
  <arg name="infra2_optical_frame_id"   default="$(arg tf_prefix)_infra2_optical_frame"/>
  <arg name="color_optical_frame_id"    default="$(arg tf_prefix)_color_optical_frame"/>
  <arg name="fisheye_optical_frame_id"  default="$(arg tf_prefix)_fisheye_optical_frame"/>
  <arg name="fisheye1_optical_frame_id" default="$(arg tf_prefix)_fisheye1_optical_frame"/>
  <arg name="fisheye2_optical_frame_id" default="$(arg tf_prefix)_fisheye2_optical_frame"/>
  <arg name="accel_optical_frame_id"    default="$(arg tf_prefix)_accel_optical_frame"/>
  <arg name="gyro_optical_frame_id"     default="$(arg tf_prefix)_gyro_optical_frame"/>
  <arg name="imu_optical_frame_id"      default="$(arg tf_prefix)_imu_optical_frame"/>
  <arg name="pose_optical_frame_id"     default="$(arg tf_prefix)_pose_optical_frame"/>

  <arg name="aligned_depth_to_color_frame_id"    default="$(arg tf_prefix)_aligned_depth_to_color_frame"/>
  <arg name="aligned_depth_to_infra1_frame_id"   default="$(arg tf_prefix)_aligned_depth_to_infra1_frame"/>
  <arg name="aligned_depth_to_infra2_frame_id"   default="$(arg tf_prefix)_aligned_depth_to_infra2_frame"/>
  <arg name="aligned_depth_to_fisheye_frame_id"  default="$(arg tf_prefix)_aligned_depth_to_fisheye_frame"/>
  <arg name="aligned_depth_to_fisheye1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye1_frame"/>
  <arg name="aligned_depth_to_fisheye2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye2_frame"/>

  <arg name="publish_tf"               default="true"/>
  <arg name="tf_publish_rate"          default="0"/> <!-- 0 - static transform -->

  <arg name="odom_frame_id"            default="$(arg tf_prefix)_odom_frame"/>
  <arg name="topic_odom_in"            default="$(arg tf_prefix)/odom_in"/>
  <arg name="calib_odom_file"          default=""/>
  <arg name="publish_odom_tf"          default="true"/>

  <arg name="stereo_module/exposure/1" default="7500"/>
  <arg name="stereo_module/gain/1"     default="16"/>
  <arg name="stereo_module/exposure/2" default="1"/>
  <arg name="stereo_module/gain/2"     default="16"/>

  <arg name="filters"                  default=""/>
  <arg name="clip_distance"            default="-1"/>
  <arg name="linear_accel_cov"         default="0.01"/>
  <arg name="initial_reset"            default="false"/>
  <arg name="reconnect_timeout"        default= "6.0"/>
  <arg name="wait_for_device_timeout"  default= "-1.0"/>
  <arg name="unite_imu_method"         default="none"/> <!-- Options are: [none, copy, linear_interpolation] -->
  


  <node unless="$(arg external_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" required="$(arg required)" respawn="$(arg respawn)"/>
  <node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)" required="$(arg required)" respawn="$(arg respawn)">
    <param name="serial_no"                type="str"  value="$(arg serial_no)"/>
    <param name="usb_port_id"              type="str"  value="$(arg usb_port_id)"/>
    <param name="device_type"              type="str"  value="$(arg device_type)"/>
    <param name="json_file_path"           type="str"  value="$(arg json_file_path)"/>
    <param name="rosbag_filename"          type="str"  value="$(arg rosbag_filename)"/>

    <param name="enable_pointcloud"        type="bool" value="$(arg enable_pointcloud)"/>
    <param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/>
    <param name="pointcloud_texture_index"  type="int" value="$(arg pointcloud_texture_index)"/>
    <param name="allow_no_texture_points"  type="bool"   value="$(arg allow_no_texture_points)"/>
    <param name="ordered_pc"               type="bool"   value="$(arg ordered_pc)"/>

    <param name="enable_sync"              type="bool" value="$(arg enable_sync)"/>
    <param name="align_depth"              type="bool" value="$(arg align_depth)"/>

    <param name="fisheye_width"            type="int"  value="$(arg fisheye_width)"/>
    <param name="fisheye_height"           type="int"  value="$(arg fisheye_height)"/>
    <param name="enable_fisheye"           type="bool" value="$(arg enable_fisheye)"/>
    <param name="enable_fisheye1"          type="bool" value="$(arg enable_fisheye1)"/>
    <param name="enable_fisheye2"          type="bool" value="$(arg enable_fisheye2)"/>

    <param name="depth_width"              type="int"  value="$(arg depth_width)"/>
    <param name="depth_height"             type="int"  value="$(arg depth_height)"/>
    <param name="enable_depth"             type="bool" value="$(arg enable_depth)"/>

    <param name="confidence_width"         type="int"  value="$(arg confidence_width)"/>
    <param name="confidence_height"        type="int"  value="$(arg confidence_height)"/>
    <param name="enable_confidence"        type="bool" value="$(arg enable_confidence)"/>
    <param name="confidence_fps"           type="int"  value="$(arg confidence_fps)"/>

    <param name="color_width"              type="int"  value="$(arg color_width)"/>
    <param name="color_height"             type="int"  value="$(arg color_height)"/>
    <param name="enable_color"             type="bool" value="$(arg enable_color)"/>

    <param name="infra_width"              type="int"  value="$(arg infra_width)"/>
    <param name="infra_height"             type="int"  value="$(arg infra_height)"/>
    <param name="enable_infra"             type="bool" value="$(arg enable_infra)"/>
    <param name="enable_infra1"            type="bool" value="$(arg enable_infra1)"/>
    <param name="enable_infra2"            type="bool" value="$(arg enable_infra2)"/>
    <param name="infra_rgb"                type="bool" value="$(arg infra_rgb)"/>

    <param name="fisheye_fps"              type="int"  value="$(arg fisheye_fps)"/>
    <param name="depth_fps"                type="int"  value="$(arg depth_fps)"/>
    <param name="infra_fps"                type="int"  value="$(arg infra_fps)"/>
    <param name="color_fps"                type="int"  value="$(arg color_fps)"/>
    <param name="gyro_fps"                 type="int"  value="$(arg gyro_fps)"/>
    <param name="accel_fps"                type="int"  value="$(arg accel_fps)"/>
    <param name="enable_gyro"              type="bool" value="$(arg enable_gyro)"/>
    <param name="enable_accel"             type="bool" value="$(arg enable_accel)"/>
    <param name="enable_pose"              type="bool" value="$(arg enable_pose)"/>

    <param name="base_frame_id"            type="str"  value="$(arg base_frame_id)"/>
    <param name="depth_frame_id"           type="str"  value="$(arg depth_frame_id)"/>
    <param name="infra1_frame_id"          type="str"  value="$(arg infra1_frame_id)"/>
    <param name="infra2_frame_id"          type="str"  value="$(arg infra2_frame_id)"/>
    <param name="color_frame_id"           type="str"  value="$(arg color_frame_id)"/>
    <param name="fisheye_frame_id"         type="str"  value="$(arg fisheye_frame_id)"/>
    <param name="fisheye1_frame_id"        type="str"  value="$(arg fisheye1_frame_id)"/>
    <param name="fisheye2_frame_id"        type="str"  value="$(arg fisheye2_frame_id)"/>
    <param name="accel_frame_id"           type="str"  value="$(arg accel_frame_id)"/>
    <param name="gyro_frame_id"            type="str"  value="$(arg gyro_frame_id)"/>
    <param name="pose_frame_id"            type="str"  value="$(arg pose_frame_id)"/>

    <param name="depth_optical_frame_id"    type="str"  value="$(arg depth_optical_frame_id)"/>
    <param name="infra1_optical_frame_id"   type="str"  value="$(arg infra1_optical_frame_id)"/>
    <param name="infra2_optical_frame_id"   type="str"  value="$(arg infra2_optical_frame_id)"/>
    <param name="color_optical_frame_id"    type="str"  value="$(arg color_optical_frame_id)"/>
    <param name="fisheye_optical_frame_id"  type="str"  value="$(arg fisheye_optical_frame_id)"/>
    <param name="fisheye1_optical_frame_id" type="str"  value="$(arg fisheye1_optical_frame_id)"/>
    <param name="fisheye2_optical_frame_id" type="str"  value="$(arg fisheye2_optical_frame_id)"/>
    <param name="accel_optical_frame_id"    type="str"  value="$(arg accel_optical_frame_id)"/>
    <param name="gyro_optical_frame_id"     type="str"  value="$(arg gyro_optical_frame_id)"/>
    <param name="imu_optical_frame_id"      type="str"  value="$(arg imu_optical_frame_id)"/>
    <param name="pose_optical_frame_id"     type="str"  value="$(arg pose_optical_frame_id)"/>

    <param name="aligned_depth_to_color_frame_id"    type="str"  value="$(arg aligned_depth_to_color_frame_id)"/>
    <param name="aligned_depth_to_infra1_frame_id"   type="str"  value="$(arg aligned_depth_to_infra1_frame_id)"/>
    <param name="aligned_depth_to_infra2_frame_id"   type="str"  value="$(arg aligned_depth_to_infra2_frame_id)"/>
    <param name="aligned_depth_to_fisheye_frame_id"  type="str"  value="$(arg aligned_depth_to_fisheye_frame_id)"/>
    <param name="aligned_depth_to_fisheye1_frame_id" type="str"  value="$(arg aligned_depth_to_fisheye1_frame_id)"/>
    <param name="aligned_depth_to_fisheye2_frame_id" type="str"  value="$(arg aligned_depth_to_fisheye2_frame_id)"/>

    <param name="publish_tf"               type="bool"   value="$(arg publish_tf)"/>
    <param name="tf_publish_rate"          type="double" value="$(arg tf_publish_rate)"/>

    <param name="odom_frame_id"            type="str"  value="$(arg odom_frame_id)"/>
    <param name="topic_odom_in"            type="str"  value="$(arg topic_odom_in)"/>
    <param name="calib_odom_file"          type="str"    value="$(arg calib_odom_file)"/>
    <param name="publish_odom_tf"          type="bool" value="$(arg publish_odom_tf)"/>
    <param name="stereo_module/exposure/1" type="int"  value="$(arg stereo_module/exposure/1)"/>
    <param name="stereo_module/gain/1"     type="int"  value="$(arg stereo_module/gain/1)"/>
    <param name="stereo_module/exposure/2" type="int"  value="$(arg stereo_module/exposure/2)"/>
    <param name="stereo_module/gain/2"     type="int"  value="$(arg stereo_module/gain/2)"/>

    <param name="filters"                  type="str"    value="$(arg filters)"/>
    <param name="clip_distance"            type="double" value="$(arg clip_distance)"/>
    <param name="linear_accel_cov"         type="double" value="$(arg linear_accel_cov)"/>
    <param name="initial_reset"            type="bool"   value="$(arg initial_reset)"/>
    <param name="reconnect_timeout"        type="double" value="$(arg reconnect_timeout)"/>
    <param name="wait_for_device_timeout"  type="double" value="$(arg wait_for_device_timeout)"/>
    <param name="unite_imu_method"         type="str"    value="$(arg unite_imu_method)"/>

  </node>
</launch>