zed_camera.launch

<launch>

  <include file="$(find zed_wrapper)/launch/zed_tf.launch" />

  <arg name="svo_file" default=""/>

  <group ns="camera">
    <node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file)" output="screen">

      <param name="resolution"            value="3" />
      <param name="quality"               value="3" />
      <param name="sensing_mode"          value="1" />
      <param name="frame_rate"            value="60" />
      <param name="odometry_DB"           value="" />
      <param name="openni_depth_mode"     value="0" />

      <param name="rgb_topic"             value="rgb/image_rect_color" />
      <param name="rgb_cam_info_topic"    value="rgb/camera_info" />
      <param name="rgb_frame_id"          value="zed_tracked_frame" />

      <param name="left_topic"            value="left/image_rect_color" />
      <param name="left_cam_info_topic"   value="left/camera_info" />
      <param name="left_frame_id"         value="zed_tracked_frame" />

      <param name="right_topic"           value="right/image_rect_color" />
      <param name="right_cam_info_topic"  value="right/camera_info" />
      <param name="right_frame_id"        value="zed_tracked_frame" />

      <param name="depth_topic"           value="depth/image_rect_color" />
      <param name="depth_cam_info_topic"  value="depth/camera_info" />
      <param name="depth_frame_id"        value="zed_tracked_frame" />

      <param name="point_cloud_topic"     value="point_cloud/cloud" />
      <param name="cloud_frame_id"        value="zed_tracked_frame" />

      <param name="odometry_topic"                value="odom" />
      <param name="odometry_frame_id"             value="odom" />
      <param name="odometry_transform_frame_id"   value="zed_tracked_frame" />


    </node>
  </group>
</launch>