true ${update_rate} ${h_fov} ${v_fov} ${width} ${height} RGB_INT8 0.01 50.0 0.2 true ${update_rate} ${topic} color/image_raw color/camera_info depth/image_rect_raw depth/camera_info depth/color/points ${frame}_link ${min_range} ${max_range} 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 0 0 0 0 0