bumblebee_rtab.launch

<launch>
  <!-- Determine this using rosrun pointgrey_camera_driver list_cameras.
       If not specified, defaults to first camera found. -->
  <arg name="bumblebee_serial" default="10405895" />
  <arg name="calibrated" default="1" />

  <group ns="/stereo_camera">
    <node pkg="nodelet" type="nodelet" name="bumblebee_nodelet_manager" args="manager" />

    <node pkg="nodelet" type="nodelet" name="bumblebee_nodelet"
          args="load pointgrey_camera_driver/PointGreyStereoCameraNodelet bumblebee_nodelet_manager" >
      <!--<param name="frame_id" value="bumblebee" />-->
      <!--frame_rate = {15, 25, 38, 60}-->
      <param name="frame_rate" value="15" />
      <param name="first_namespace" value="left" />
      <param name="second_namespace" value="right" />
      <param name="format7_color_coding" value="raw16" />
      <param name="serial" value="$(arg bumblebee_serial)" />

      <!-- Use the camera_calibration package to create these files -->
      <param name="camera_info_url" if="$(arg calibrated)"
             value="file://$(env HOME)/.ros/camera_info/$(arg bumblebee_serial).yaml" />

      <param name="second_info_url" if="$(arg calibrated)"
             value="file://$(env HOME)/.ros/camera_info/$(arg bumblebee_serial)_right.yaml" />
    </node>

  </group>
</launch>