
<launch>
  
  <node pkg="hls_lfom_tof_driver" type="hlds_3dtof_node" name="hls_lfom_tof_driver"
        args="" required="true" output="screen" >
  </node>

  <param name="ini_path" type="str" value="$(find hls_lfom_tof_driver)/launch/" />

  <param name="frame_id" value="base_link" />
  <param name="cloud_topic" value="cloud" />

  <param name="camera_mode" value="Depth_Ir" />

  <param name="sensor_angle_x" value="0" />
  <param name="sensor_angle_y" value="0" />
  <param name="sensor_angle_z" value="0" />

  <param name="edge_signal_cutoff" value="true" />
  <param name="low_signal_cutoff" value="20" />
  <param name="far_signal_cutoff" value="0.0" />

  <param name="camera_pixel" value="320x240" />
  <param name="ir_gain" value="15" />
  <param name="distance_mode" value="dm_1_0x" />
  <param name="frame_rate" value="fr30fps" />

  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cloudify"
        args="load depth_image_proc/point_cloud_xyzrgb standalone_nodelet --no-bond">
    <remap from="depth_registered/image_rect" to="image_depth_raw"/>
    <remap from="depth_registered/points" to="cloud_ir"/>
    <remap from="rgb/image_rect_color" to="image_ir"/>
    <remap from="rgb/camera_info" to="camera_info"/>
  </node>

</launch>
