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# Launch parameters
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> If you are not sure how to set the parameters, you can connect the orbbec camera and open the [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases).
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The following are the launch parameters available:
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### Core & Stream Configuration
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* **`camera_name`**
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* Start the node namespace.
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* **`depth_registration`**
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* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
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* **`serial_number`**
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* The serial number of the camera. This is required when multiple cameras are used.
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* **`usb_port`**
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* The USB port of the camera. This is required when multiple cameras are used.
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* **`device_num`**
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* The number of devices. This must be filled in if multiple cameras are required.
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* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
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* The resolution and frame rate of the sensor stream.
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* **`[color|depth|left_ir|right_ir|ir]_rotation`**
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* Set stream image rotation.
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* The possible values are `0`, `90`, `180`, `270`.
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* **`[color|depth|left_ir|right_ir|ir]_flip`**
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* Enable the stream image flip.
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* **`[color|depth|left_ir|right_ir|ir]_mirror`**
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* Enable the stream image mirror.
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* **`enable_point_cloud`**
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* Enable the point cloud.
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* **`enable_colored_point_cloud`**
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* Enable the RGB point cloud.
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* **`cloud_frame_id`**
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* Modify the `frame_id` name within the ros message.
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* **`ordered_pc`**
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* Enable filtering of invalid point clouds.
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* **`align_mode`**
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* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
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* **`align_target_stream`**
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* Set align target stream mode.
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* The possible values are `COLOR`, `DEPTH`.
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* `COLOR`: Align depth to color.
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* `DEPTH`: Align color to depth.
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* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
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* ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
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### Sensor Controls
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#### Color Stream
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* **`enable_color_auto_exposure`**
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* Enable the Color auto exposure.
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* **`enable_color_auto_exposure_priority`**
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* Enable the Color auto exposure priority.
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* **`color_exposure`**
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* Set the Color exposure.
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* **`color_gain`**
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* Set the Color gain.
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* **`enable_color_auto_white_balance`**
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* Enable the Color auto white balance.
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* **`color_white_balance`**
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* Set the Color white balance.
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* **`color_ae_max_exposure`**
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* Set the maximum exposure value for Color auto exposure.
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* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
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* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
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* **`enable_color_backlight_compensation`**
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* Enable the Color backlight compensation.
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* **`color_powerline_freq`**
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* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
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* **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`**
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* Enable the Color decimation filter and set its scale.
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* **`color_ae_roi_[left|right|top|bottom]`**
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* Set Color auto exposure ROI.
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#### Depth Stream
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* **`enable_depth_auto_exposure_priority`**
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* Enable the Depth auto exposure priority.
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* **`mean_intensity_set_point`**
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* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
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> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
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* **`enable_depth_scale`**
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* Enable the depth scale.
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* **`depth_precision`**
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* The depth precision should be in the format `1mm`. The default value is `1mm`.
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* **`depth_ae_roi_[left|right|top|bottom]`**
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* Set Depth auto exposure ROI.
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#### IR Stream
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* **`enable_ir_auto_exposure`**
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* Enable the IR auto exposure.
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* **`ir_exposure`** / **`ir_gain`**
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* Set the IR exposure and gain.
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* **`ir_ae_max_exposure`**
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* Set the maximum exposure value for IR auto exposure.
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* **`ir_brightness`**
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* Set the IR brightness.
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#### Laser / LDP
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* **`enable_laser`**
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* Enable the laser. The default value is `true`.
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* **`laser_energy_level`**
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* Set the laser energy level.
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* **`enable_ldp`** / **`ldp_power_level`**
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* Enable the LDP and set its power level.
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### Device, Sync & Advanced Features
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#### Multi-Camera Synchronization
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* **`sync_mode`**
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* Set sync mode. The default value is `standalone`.
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* **`depth_delay_us`** / **`color_delay_us`**
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* The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
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* **`trigger2image_delay_us`**
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* The delay time (microseconds) of the image capture after receiving the capture command or trigger signal. Us
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* **`trigger_out_delay_us`**
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* The delay time (microseconds) of the trigger signal output after receiving the capture command or trigger signal.
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* **`trigger_out_enabled`**
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* Enable the trigger out signal.
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* **`software_trigger_enabled`** / **`software_trigger_period`**
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* Enable the software trigger out signal / set the software trigger period in ms.
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* **`frames_per_trigger`**
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* The frame number of each stream after each trigger in triggering mode.
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> Used for [multi camera synced](../5_advanced_guide/multi_camera_synced.md).
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#### Network Cameras
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* **`enumerate_net_device`**
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* Enable automatically enumerate network devices.
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* **`net_device_ip`** / **`net_device_port`**
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* Set net device's IP address and port (Usually `8090`).
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> Used for [net camera](../5_advanced_guide/net_camera.md).
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#### Device-Specific
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* **`device_preset`**
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* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/predefined_presets.md).
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/gmsl_camera.md).
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#### Disparity
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* **`disparity_to_depth_mode`**
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* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
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* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
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* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/disparity_search_offset.md).
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#### Interleave AE Mode
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* **`interleave_ae_mode`**
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* Set `laser` or `hdr` interleave.
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* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
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* Parameters to control interleave frame mode.
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* **`[hdr|laser]_index[0|1]_[...]`**
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* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
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* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/interleave_ae_mode.md).*
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### Basic & General Parameters
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#### Firmware & Backend
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* **`upgrade_firmware`**
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* The input parameter is the firmware path.
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* **`preset_firmware_path`**
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* The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
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* **`uvc_backend`**
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* Optional values: `v4l2`, `libuvc`.
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* **`connection_delay`**
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* The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
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* **`retry_on_usb3_detection_failure`**
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* If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets.
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#### TF, Extrinsics & Calibration
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* **`publish_tf`** / **`tf_publish_rate`**
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* Enable the TF publish and set its publication rate.
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* **`enable_publish_extrinsic`**
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* Enable the extrinsics publish.
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* **`ir_info_url`** / **`color_info_url`**
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* Set URL of the IR/color camera info.
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* **`enable_color_undistortion`**
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* Enable the Color undistortion.
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#### Time Synchronization
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* **`enable_sync_host_time`**
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* Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
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* **`time_domain`**
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* Select timestamp type: `device`, `global`, and `system`.
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* **`time_sync_period`**
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* Interval (in seconds) for synchronizing the camera time with the host system.
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> **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
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* **`enable_ptp_config`**
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* Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.
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* **`enable_frame_sync`**
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* Enable the frame synchronization.
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#### Logging & Diagnostics
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* **`log_level`**
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* SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
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* **`diagnostic_period`**
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* Diagnostic period in seconds.
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* **`enable_heartbeat`**
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* Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
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#### Miscellaneous
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* **`config_file_path`**
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* The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used.
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* **`frame_aggregate_mode`**
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* Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
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* **`enable_d2c_viewer`**
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* Publishes the D2C overlay image (for testing only).
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### IMU
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* **`enable_accel`** / **`enable_gyro`**
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* Enable the Accelerometer/gyroscope and output its info topic data.
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* **`enable_sync_output_accel_gyro`**
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* Enable the sync `accel_gyro`, and output IMU topic real-time data.
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* **`accel_rate`** / **`gyro_rate`**
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* The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`.
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* **`accel_range`** / **`gyro_range`**
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* The range of the accelerometer (`2g`, `4g`, `8g`, `16g`) and gyroscope (`16dps` to `2000dps`).
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* **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**
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* Enable data correction for the accelerometer/gyroscope.
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* **`linear_accel_cov`** / **`angular_vel_cov`**
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* Covariance of the linear acceleration and angular velocity.
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### Depth Filters
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* **`enable_decimation_filter`**
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* Enable the Depth decimation filter. Set with `decimation_filter_scale`.
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* **`enable_hdr_merge`**
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* Enable the Depth hdr merge filter. Set with `hdr_merge_exposure_1`, etc.
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* **`enable_sequence_id_filter`**
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* Enable the Depth sequence id filter. Set with `sequence_id_filter_id`.
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* **`enable_threshold_filter`**
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* Enable the Depth threshold filter. Set with `threshold_filter_max`, `threshold_filter_min`.
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* **`enable_hardware_noise_removal_filter`**
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* Enable the Depth hardware noise removal filter.
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* **`enable_noise_removal_filter`**
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* Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc.
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* **`enable_spatial_filter`**
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* Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc.
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* **`enable_temporal_filter`**
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* Enable the Depth temporal filter. Set with `temporal_filter_diff_threshold`, etc.
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* **`enable_hole_filling_filter`**
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* Enable the Depth hole filling filter. Set with `hole_filling_filter_mode`.
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* **`enable_spatial_fast_filter`**
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* Enable the Depth spatial fast filter. Set with `spatial_fast_filter_radius`.
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* **`enable_spatial_moderate_filter`**
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* Enable the Depth spatial moderate filter. Set with `spatial_moderate_filter_diff_threshold`, etc.
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---
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> **_IMPORTANT_**: Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify these settings.
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