From 6c08caebe943cf4e4f30e316e086958c574224d9 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Sat, 22 Jul 2023 17:23:17 +0800
Subject: [PATCH] add astra2 launch file

---
 orbbec_camera/launch/astra2.launch.xml           | 4 ++--
 orbbec_camera/launch/astra_embedded_s.launch.xml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/orbbec_camera/launch/astra2.launch.xml b/orbbec_camera/launch/astra2.launch.xml
index 5d2be827..6f9275d9 100644
--- a/orbbec_camera/launch/astra2.launch.xml
+++ b/orbbec_camera/launch/astra2.launch.xml
@@ -31,8 +31,8 @@
     <arg name="depth_camera_info_qos" default="default"/>
     <arg name="ir_width" default="800"/>
     <arg name="ir_height" default="600"/>
-    <arg name="ir_fps" default="Y8"/>
-    <arg name="ir_format" default="Y10"/>
+    <arg name="ir_fps" default="30"/>
+    <arg name="ir_format" default="Y8"/>
     <arg name="enable_ir" default="true"/>
     <arg name="flip_ir" default="false"/>
     <arg name="ir_qos" default="default"/>
diff --git a/orbbec_camera/launch/astra_embedded_s.launch.xml b/orbbec_camera/launch/astra_embedded_s.launch.xml
index 90413036..8a7eaba7 100644
--- a/orbbec_camera/launch/astra_embedded_s.launch.xml
+++ b/orbbec_camera/launch/astra_embedded_s.launch.xml
@@ -24,7 +24,7 @@
     <arg name="depth_width" default="640"/>
     <arg name="depth_height" default="400"/>
     <arg name="depth_fps" default="30"/>
-    <arg name="depth_format" default="Y16"/>
+    <arg name="depth_format" default="Y11"/>
     <arg name="enable_depth" default="true"/>
     <arg name="flip_depth" default="false"/>
     <arg name="depth_qos" default="default"/>
@@ -32,7 +32,7 @@
     <arg name="ir_width" default="640"/>
     <arg name="ir_height" default="400"/>
     <arg name="ir_fps" default="30"/>
-    <arg name="ir_format" default="Y16"/>
+    <arg name="ir_format" default="Y10"/>
     <arg name="enable_ir" default="true"/>
     <arg name="flip_ir" default="false"/>
     <arg name="ir_qos" default="default"/>