device_type: ''
serial_no: ''
usb_port_id: ''

rgb_camera:
  profile: '640x480x60'
color_qos: "RELIABILITY_QOS_POLICY"

depth_module:
  profile: '640x480x15'
  emitter_enabled: 1
  emitter_on_off: false
depth_qos: "SENSOR_DATA"
depth_info_qos: "SYSTEM_DEFAULT"

infra_qos: "SENSOR_DATA"

enable_accel: true
enable_color: true
enable_depth: true
enable_gyro: true
enable_infra1: false
enable_infra2: false

pointcloud:
  enable: true

pointcloud_texture_index: 0
pointcloud_texture_stream: RS2_STREAM_ANY

enable_sync: true
align_depth: false

unite_imu_method: 2
gyro_fps: 400
accel_fps: 200
camera_namespace: ""
namespace: ""