Depth Control Preset not settable via launch file

[mdhorn]

System Configuration

Version	Your Configuration
Operating System	Ubuntu 16.04.1 LTS
Kernel	4.4.0-42-generic
Backend	video4linux
ROS	kinetic
ROS RealSense	1.5.0
librealsense	1.11.0
Camera Type-Firmware	Intel RealSense R200, Camera FW: 1.0.72.06

Expected Behavior

As a ROS user, I should be able to select a different default value for the R200 Depth Control Preset from a launch file by setting parameter' r200_dc_preset'.
<param name="$(arg camera)/driver/r200_dc_preset" type="int" value="3" />

$ rosparam dump | grep r200_dc
r200_dc_estimate_median_decrement: 5, r200_dc_estimate_median_increment: 5, r200_dc_lr_threshold: 14,
r200_dc_median_threshold: 185, r200_dc_neighbor_threshold: 45, r200_dc_preset: 3,
r200_dc_score_maximum_threshold: 505, r200_dc_score_minimum_threshold: 5, r200_dc_second_peak_threshold: 45,
r200_dc_texture_count_threshold: 6, r200_dc_texture_difference_threshold: 35,

Actual Behavior

When the parameter is added to a launch file:
<param name="$(arg camera)/driver/r200_dc_preset" type="int" value="3" />
the new preset value is set, but the individual depth control values are left as the defaults from the dynamic reconfiguration defaults.

$ rosparam dump | grep r200_dc
r200_dc_estimate_median_decrement: 5, r200_dc_estimate_median_increment: 5, r200_dc_lr_threshold: 12,
r200_dc_median_threshold: 235, r200_dc_neighbor_threshold: 90, r200_dc_preset: 3,
r200_dc_score_maximum_threshold: 420, r200_dc_score_minimum_threshold: 27, r200_dc_second_peak_threshold: 70,
r200_dc_texture_count_threshold: 8, r200_dc_texture_difference_threshold: 80,

Steps to Reproduce

Create r200_nodelet_dc_preset.launch

<!-- Sample launch file for using RealSense R200 camera with default configurations -->
<launch>
  <arg name="camera"       default="camera" />
  <arg name="camera_type"  default="R200" /> <!-- Type of camera -->
  <arg name="serial_no"    default="" />
  <arg name="usb_port_id"  default="" /> <!-- USB "Bus#-Port#" -->
  <arg name="manager"      value="$(arg camera)_nodelet_manager" />

  <param name="$(arg camera)/driver/r200_dc_preset"   type="int"  value="3" />

  <group ns="$(arg camera)">
    <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>

    <include file="$(find realsense_camera)/launch/includes/nodelet.launch.xml">
      <arg name="manager"      value="$(arg manager)" />
      <arg name="camera"       value="$(arg camera)" />
      <arg name="camera_type"  value="$(arg camera_type)" />
      <arg name="serial_no"    value="$(arg serial_no)" />
      <arg name="usb_port_id"  value="$(arg usb_port_id)" />
    </include>
  </group>
</launch>

roslaunch realsense_camera r200_nodelet_dc_preset.launch

[mdhorn]

fixed in release 1.6.0
https://github.com/intel-ros/realsense/releases/tag/1.6.0