16 2.094 928 800 R8G8B8 0.1 5 0.025 true 0.0 camera_${name}_ir /camera_${name}/color/image_raw /camera_${name}/color/camera_info /camera_${name}/depth/image_raw /camera_${name}/depth/camera_info /cam${camID}/point_cloud_${name} camera_optical_${name} 0.1 1.5 0.0 0.0 0.0 0.0 0.0 0 0.0045 0.0039 0 0