Updated Realsense parameters

clearpath_sensors/config/intel_realsense.yaml

@@ -1,53 +1,64 @@
 intel_realsense:
   ros__parameters:
     camera_name: camera
+    camera_namespace: camera
     serial_no: ''
     usb_port_id: ''
     device_type: ''
     config_file: ''
-    unite_imu_method: 0
     json_file_path: ''
+    initial_reset: false
+    accelerate_gpu_with_glsl: false
+    rosbag_filename: ''
     log_level: info
     output: screen
-    depth_module.profile: 0,0,0
-    enable_depth: true
-    rgb_camera.profile: 0,0,0
-    rgb_camera.enable_auto_exposure: true
     enable_color: true
+    rgb_camera.color_profile: 0,0,0
+    rgb_camera.color_format: RGB8
+    rgb_camera.enable_auto_exposure: true
+    enable_depth: true
+    enable_infra: false
     enable_infra1: false
     enable_infra2: false
-    infra_rgb: false
-    enable_fisheye1: true
-    enable_fisheye2: true
-    enable_confidence: true
-    gyro_fps: 0
-    accel_fps: 0
+    depth_module.depth_profile: 0,0,0
+    depth_module.depth_format: Z16
+    depth_module.infra_profile: 0,0,0
+    depth_module.infra_format: RGB8
+    depth_module.infra1_format: Y8
+    depth_module.infra2_format: Y8
+    depth_module.exposure: 8500
+    depth_module.gain: 16
+    depth_module.hdr_enabled: false
+    depth_module.enable_auto_exposure: true
+    depth_module.exposure.1: 7500
+    depth_module.gain.1: 16
+    depth_module.exposure.2: 1
+    depth_module.gain.2: 16
+    enable_sync: false
+    enable_rgbd: false
     enable_gyro: false
     enable_accel: false
-    enable_pose: true
-    pose_fps: 200
+    gyro_fps: 0
+    accel_fps: 0
+    unite_imu_method: 0
+    clip_distance: -2.
+    angular_velocity_cov: 0.01
+    linear_accel_cov: 0.01
+    diagnostics_period: 0.0
+    publish_tf: true
+    tf_publish_rate: 0.0
     pointcloud.enable: false
     pointcloud.stream_filter: 2
     pointcloud.stream_index_filter: 0
-    enable_sync: false
+    pointcloud.ordered_pc: false
+    pointcloud.allow_no_texture_points: false
     align_depth.enable: false
     colorizer.enable: false
-    clip_distance: -2.
-    linear_accel_cov: 0.01
-    initial_reset: false
-    allow_no_texture_points: false
-    pointcloud.ordered_pc: false
-    tf_publish_rate: 0.0
-    diagnostics_period: 0.0
     decimation_filter.enable: false
-    rosbag_filename: ''
-    depth_module.exposure.1: 7500
-    depth_module.gain.1: 16
-    depth_module.exposure.2: 1
-    depth_module.gain.2: 16
-    depth_module.exposure: 8500
-    depth_module.hdr_enabled: false
-    depth_module.enable_auto_exposure: true
+    spatial_filter.enable: false
+    temporal_filter.enable: false
+    disparity_filter.enable: false
+    hole_filling_filter.enable: false
     hdr_merge.enable: false
     wait_for_device_timeout: -1.
     reconnect_timeout: 6.