<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="CameraModeIr" />

  <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="camera_pixel" value="320x240" />
  <param name="ir_gain" value="8" />
  <param name="distance_mode" value="dm_1_0x" />
  <param name="frame_rate" value="fr30fps" />

  <node pkg="openpose_ros_pkg" type="openpose_ros_node" name="openpose_ros_node" output="screen"/>

  <node pkg="openpose_ros_pkg" type="openpose_ros_node_firephinx" name="openpose_ros_node_firephinx" output="screen"/>

</launch>
