realsense2_camera:
  accel_fps: 0
  accel_frame_id: wide_stereo_front_centre_accel_frame
  accel_optical_frame_id: wide_stereo_front_centre_accel_optical_frame
  align_depth: true
  aligned_depth_to_color_frame_id: wide_stereo_front_centre_aligned_depth_to_color_frame
  aligned_depth_to_fisheye1_frame_id: wide_stereo_front_centre_aligned_depth_to_fisheye1_frame
  aligned_depth_to_fisheye2_frame_id: wide_stereo_front_centre_aligned_depth_to_fisheye2_frame
  aligned_depth_to_fisheye_frame_id: wide_stereo_front_centre_aligned_depth_to_fisheye_frame
  aligned_depth_to_infra1_frame_id: wide_stereo_front_centre_aligned_depth_to_infra1_frame
  aligned_depth_to_infra2_frame_id: wide_stereo_front_centre_aligned_depth_to_infra2_frame
  allow_no_texture_points: false
  base_frame_id: wide_stereo_front_centre_link
  calib_odom_file: ''
  clip_distance: -1.0
  color_fps: 30
  color_frame_id: wide_stereo_front_centre_color_frame
  color_height: 480
  color_optical_frame_id: wide_stereo_front_centre_color_optical_frame
  color_width: 848
  confidence_fps: 30
  confidence_height: 720
  confidence_width: 1280
  depth_fps: 30
  depth_frame_id: wide_stereo_front_centre_depth_frame
  depth_height: 720
  depth_optical_frame_id: wide_stereo_front_centre_depth_optical_frame
  depth_width: 1280
  device_type: ''
  enable_accel: true
  enable_color: true
  enable_confidence: false
  enable_depth: true
  enable_fisheye: false
  enable_fisheye1: false
  enable_fisheye2: false
  enable_gyro: true
  enable_infra: false
  enable_infra1: false
  enable_infra2: false
  enable_pointcloud: false
  enable_pose: true
  enable_sync: true
  filters: ''
  fisheye1_frame_id: wide_stereo_front_centre_fisheye1_frame
  fisheye1_optical_frame_id: wide_stereo_front_centre_fisheye1_optical_frame
  fisheye2_frame_id: wide_stereo_front_centre_fisheye2_frame
  fisheye2_optical_frame_id: wide_stereo_front_centre_fisheye2_optical_frame
  fisheye_fps: -1
  fisheye_frame_id: wide_stereo_front_centre_fisheye_frame
  fisheye_height: 0
  fisheye_optical_frame_id: wide_stereo_front_centre_fisheye_optical_frame
  fisheye_width: 0
  gyro_fps: 0
  gyro_frame_id: wide_stereo_front_centre_gyro_frame
  gyro_optical_frame_id: wide_stereo_front_centre_gyro_optical_frame
  imu_optical_frame_id: wide_stereo_front_centre_imu_optical_frame
  infra1_frame_id: wide_stereo_front_centre_infra1_frame
  infra1_optical_frame_id: wide_stereo_front_centre_infra1_optical_frame
  infra2_frame_id: wide_stereo_front_centre_infra2_frame
  infra2_optical_frame_id: wide_stereo_front_centre_infra2_optical_frame
  infra_fps: 30
  infra_height: 720
  infra_rgb: false
  infra_width: 1280
  initial_reset: false
  json_file_path: ''
  linear_accel_cov: 0.01
  odom_frame_id: wide_stereo_front_centre_odom_frame
  ordered_pc: false
  pointcloud_texture_index: 0
  pointcloud_texture_stream: RS2_STREAM_COLOR
  pose_frame_id: wide_stereo_front_centre_pose_frame
  pose_optical_frame_id: wide_stereo_front_centre_pose_optical_frame
  publish_odom_tf: true
  publish_tf: true
  rosbag_filename: ''
  serial_no: 037522250996
  stereo_module:
    exposure:
      '1': 7500
      '2': 1
    gain:
      '1': 16
      '2': 16
  tf_publish_rate: 0.0
  topic_odom_in: wide_stereo_front_centre/odom_in
  unite_imu_method: none
  usb_port_id: ''
stereo_module:
  emitter_enabled: 1
  hdr_enabled: false
  inter_cam_sync_mode: 4
  visual_preset: 1