2022-06-06 19:00:12 +08:00
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orbbec_camera_node:
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ros__parameters:
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color_width: 640
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color_height: 480
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color_fps: 30
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color_frame_id: "color_frame"
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color_optical_frame_id: "color_optical_frame"
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2022-06-07 10:46:04 +08:00
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enable_color: true
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2022-06-06 19:00:12 +08:00
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ir_width: 640
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ir_height: 480
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ir_fps: 30
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ir_frame_id: "ir_frame"
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ir_optical_frame_id: "ir_optical_frame"
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2022-06-07 10:46:04 +08:00
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enable_ir: false
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2022-06-06 19:00:12 +08:00
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depth_width: 640
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depth_height: 480
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depth_fps: 30
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depth_frame_id: "depth_frame"
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depth_optical_frame_id: "depth_optical_frame"
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2022-06-07 10:46:04 +08:00
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enable_depth: true
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2022-06-06 19:00:12 +08:00
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publish_tf: true
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align_depth: true
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tf_publish_rate: 10.0
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