Add flags in Realsense launch file to enable/disable IMU streams

StanfordASL · Feb 5, 2025 · d7e9c9c · d7e9c9c
1 parent f22e036
commit d7e9c9c
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/ff_drivers/launch/rs_d455.launch.py b/ff_drivers/launch/rs_d455.launch.py
@@ -46,11 +46,17 @@ def generate_launch_description():
             "initial_reset": "True",
             "rgb_camera.profile": "640x360x30",
             "depth_module.profile": "640x360x30",
+            "enable_depth": "True",
+            "enable_color": "True",
             "rgb.enable_auto_white_balance": "False",
             "rgb_enable_white_balance": "3800.0",
             "rgb_enable_auto_exposure": "False",
             "enable_infra1": "False",
             "enable_infra2": "False",
+            "enable_accel":"True",
+            "enable_gyro": "True",
+            "accel_fps": "200",
+            "gyro_fps":"200",
         }.items(),
     )