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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_v2/releases/tag/v2.3.5) parameter settings.
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The following are the launch parameters available:
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* `camera_name` : Start the node namespace
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* `depth_registration` : Enables 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` : The serial number of the camera. This is required when multiple cameras are used
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* `usb_port` : The USB port of the camera. This is required when multiple cameras are used
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* `device_num` : The number of devices. This must be filled in if multiple cameras are required
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* `preset_firmware_path` : The input parameter is the perset 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` : Optional values: v4l2, libuvc
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* `point_cloud_qos`, `[color|depth|left_ir|right_ir|ir]_qos`, `[color|depth|left_ir|right_ir|ir]_camera_info_qos`: 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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* `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
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* `enable_point_cloud` : Enables the point cloud
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* `enable_colored_point_cloud` : Enables the RGB point cloud
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* `cloud_frame_id` : Modifying the frame_id name within the ros message
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* `connection_delay` : 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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* `[color|depth|left_ir|right_ir|ir]_width`,`[color|depth|left_ir|right_ir|ir]_height`,`[color|depth|left_ir|right_ir|ir]_fps`,`[color|depth|left_ir|right_ir|ir]_format`: The resolution and frame rate of the sensor stream
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* `enable_color_auto_exposure_priority` : Enables the Color auto exposure priority
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* `enable_color_auto_exposure` : Enables the Color auto exposure
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* `color_exposure` : Set the Color exposure
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* `color_gain` :Set the Color gain
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* `enable_color_auto_white_balance` : Enables the Color auto white balance
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* `color_white_balance` : Set the Color white balance
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* `color_ae_max_exposure` : Set the maximum exposure value for Color auto exposure
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* `color_brightness` : Set the Color brightness
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* `color_sharpness` : Set the Color sharpness
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* `color_gamma` : Set the Color gamma
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* `color_saturation` : Set the Color saturation
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* `color_constrast` : Set the Color constrast
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* `color_hue` : Set the Color hue
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* `enable_color_backlight_compenstation` : Enables the Color backlight compenstation
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* `enable_color_decimation_filter` : Enables the Color decimation filter
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* `color_decimation_filter_scale` : Set the Color decimation filter scale
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* `enable_depth_auto_exposure_priority` : Enables the Depth auto exposure priority
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* `depth_brightness` : Set the Depth brightness
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* `enable_ir_auto_exposure` : Enables the IR auto exposure
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* `ir_exposure` : Set the IR exposure
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* `ir_gain` : Set the IR gain
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* `ir_ae_max_exposure` : Set the maximum exposure value for IR auto exposure
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* `ir_brightness` : Set the IR brightness
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* `enable_sync_output_accel_gyro` : Enables the sync accel_gyro,and output IMU topic real-time data
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* `enable_accel` : Enables the Accelerometer,and output Accelerometer info topic data
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* `accel_rate` : The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`
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* `accel_range` : The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera
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* `enable_gyro` : Enables the gyroscope,and output gyroscope info topic data
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* `gyro_rate` : The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera
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* `gyro_range` : The range of the gyroscope, the optional values are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the
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current camera
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* `liner_accel_cov` : Covariance of the linear acceleration
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* `angular_vel_cov` : Covariance of the angular velocity
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* `publish_tf` : Enables the TF publish
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* `tf_publish_rate` : Set Rate of the TF publication
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* `ir_info_url` : Set URL of the IR image info
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* `color_info_url` : Set URL of the color image info
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* `enumerate_net_device` : Enable automatically enumerate network devices,this parameter is usually used [net camera](../orbbec_camera/examples/net_camera/README.MD)
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* `net_device_ip` : Setting net device's IP address,this parameter is usually used [net camera](../orbbec_camera/examples/net_camera/README.MD)
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* `net_device_port` : Setting net device's port.Usually, you can set it to 8090,this parameter is usually used [net camera](../orbbec_camera/examples/net_camera/README.MD)
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* `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`
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* `enable_publish_extrinsic` : Enables the extrinsics publish
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* `enable_d2c_viewer` : Publishes the D2C overlay image (for testing only)
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* `enable_hardware_d2d` : false: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth
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* `enable_ldp` : Enables the LDP
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* `ldp_power_level` : Set power level of the LDP
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* `sync_mode` : Set sync mode.The default value is standalone,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `depth_delay_us` : The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `color_delay_us` : The delay time of the color image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `trigger2image_delay_us` : The delay time of the image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `trigger_out_delay_us` : The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `trigger_out_enabled` : Enables the trigger out signal,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `frames_per_trigger` : The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `software_trigger_period` : software trigger period in ms,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
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* `enable_frame_sync` : Enables the frame synchronization
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* `ordered_pc` : Enable filtering of invalid point clouds
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* `enable_depth_scale` : Enables the depth scale
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* `enable_decimation_filter` : Enables the Depth decimation filter.The Depth decimation filter setting parameter is `decimation_filter_scale`
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* `enable_hdr_merge` : Enables the Depth hdr merge filter.The Depth hdr merge filter setting parameter is `hdr_merge_exposure_1`,`hdr_merge_gain_1`,`hdr_merge_exposure_2`,`hdr_merge_gain_2`
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* `enable_sequence_id_filter` : Enables the Depth sequence id filter.The Depth sequence id filter setting parameter is `sequence_id_filter_id`
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* `enable_threshold_filter` : Enables the Depth threshold filter.The Depth threshold filter setting parameter is `threshold_filter_max`,`threshold_filter_min`
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* `enable_hardware_noise_removal_filter` : Enables the Depth hardware noise removal filter
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* `enable_noise_removal_filter` : Enables the Depth software noise removal_filter.The Depth noise removal filter setting parameter is `noise_removal_filter_min_diff`,`noise_removal_filter_max_size`
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* `enable_spatial_filter` : Enables the Depth spatial filter.The Depth spatial filter setting parameter is `spatial_filter_alpha`,`spatial_filter_diff_threshold`,`spatial_filter_magnitude`,`spatial_filter_radius`
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* `enable_temporal_filter` : Enables the Depth temporal filter.The Depth temporal filter setting parameter is `temporal_filter_diff_threshold`,`temporal_filter_weight`
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* `enable_hole_filling_filter` : Enables the Depth hole filling filter.The Depth hole filling filter setting parameter is `hole_filling_filter_mode`
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* `align_mode` : The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment
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* `diagnostic_period` : Diagnostic period in seconds
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* `enable_laser` : Enables the laser. The default value is `true`
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* `depth_precision` : The depth precision should be in the format `1mm`. The default value is `1mm`
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* `device_preset` : 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/). Please refer to the table below to set the `device_preset` value based on your use case. The value should be one of the preset names listed [in the table](./predefined_presets.md)
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* `retry_on_usb3_detection_failure` : 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. This setting aims to prevent USB 3.0 devices from being incorrectly recognized as USB 2.0. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets
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* `laser_energy_level` : Set the laser energy level
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* enable_sync_host_time : Enables synchronization of the host time with the camera time. The default value is `true`, if use global time, Set to `false`. Some old devices may not support this feature
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* `time_domain` : Select timestamp type: device , global and system
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* `enable_color_undistortion` : Enables the Color undistortion
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* `config_file_path` : The path to the YAML configuration file. The default value is `""`. If the configuration file is not specified,the default parameters from the launch file will be used. If you want to use a custom configuration file, please refer to `gemini_330_series.launch.py`.`enable_heartbeat` enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true`
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* `enable_heartbeat` : Enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true`
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* `gmsl_trigger_fps` : Set gmsl trigger fps,this parameter is usually used [gmsl camera](../orbbec_camera/examples/gmsl_camera/README.MD)
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* `enable_gmsl_trigger` : Enables the gmsl trigger out signal,this parameter is usually used [gmsl camera](../orbbec_camera/examples/gmsl_camera/README.MD)
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* `disparity_range_mode` : Disparity search length,this parameter is usually used [disparity search offset](../orbbec_camera/examples/disparity_search_offset/README.MD)
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* `disparity_search_offset` : Set Disparity search offset value,this parameter is usually used [disparity search offset](../orbbec_camera/examples/disparity_search_offset/README.MD)
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* `disparity_offset_config` : Disparity search offset interleave frames,this parameter is usually used [disparity search offset](../orbbec_camera/examples/disparity_search_offset/README.MD)
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* `frame_aggregate_mode` : Set frame aggregate output mode.The optional values are `full_frame`,`color_frame`,`ANY`,`disable`
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* `interleave_ae_mode` : Set laser or hdr interleave,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD)
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* `interleave_frame_enable` : Whether to enable interleave frame mode,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD)
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* `interleave_skip_enable` : Whether to enable skip frames,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD)
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* `interleave_skip_index` : Set skip pattern IR or flood IR,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD)
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* `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD)
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**IMPORTANT**: *Please carefully read the instructions regarding software filtering settings
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at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify
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these settings.*
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