Arguments (pass arguments as '<name>:=<value>'):

    'mxId':
        select the device by passing the MxID of the device. It will connect to first available device if left empty.
        (default: LaunchConfig('mxId'))

    'usb2Mode':
        To revert and use usb2 Mode. Set this parameter to false
        (default: LaunchConfig('usb2Mode'))

    'poeMode':
        When MxID is set and the device is a POE model then set the poeMode to "true" to connect properly.
        (default: LaunchConfig('poeMode'))

    'camera_model':
        The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.
        (default: LaunchConfig('camera_model'))

    'tf_prefix':
        your custom name for the prefix of camera TF frames
        (default: LaunchConfig('tf_prefix'))

    'mode':
        set to  "depth" or "disparity". Setting to depth will publish depth or else will publish disparity.
        (default: LaunchConfig('mode'))

    'base_frame':
        Name of the base link in the TF Tree.
        (default: LaunchConfig('base_frame'))

    'parent_frame':
        Name of the parent link from an another robot TF that can be connected to the base of the OAK device.
        (default: LaunchConfig('parent_frame'))

    'imuMode':
         set to 0 -> COPY, 1 -> LINEAR_INTERPOLATE_GYRO, 2 -> LINEAR_INTERPOLATE_ACCEL
        (default: LaunchConfig('imuMode'))

    'cam_pos_x':
        Position X of the camera with respect to the base frame.
        (default: LaunchConfig('cam_pos_x'))

    'cam_pos_y':
        Position Y of the camera with respect to the base frame.
        (default: LaunchConfig('cam_pos_y'))

    'cam_pos_z':
        Position Z of the camera with respect to the base frame.
        (default: LaunchConfig('cam_pos_z'))

    'cam_roll':
        Roll orientation of the camera with respect to the base frame.
        (default: LaunchConfig('cam_roll'))

    'cam_pitch':
        Pitch orientation of the camera with respect to the base frame.
        (default: LaunchConfig('cam_pitch'))

    'cam_yaw':
        Yaw orientation of the camera with respect to the base frame.
        (default: LaunchConfig('cam_yaw'))

    'lrcheck':
        LR-Check is used to remove incorrectly calculated disparity pixels due to occlusions at object borders. Set to true to enable it
        (default: LaunchConfig('lrcheck'))

    'extended':
        Extended disparity mode allows detecting closer distance objects for the given baseline. Set this parameter to true to enable it
        (default: LaunchConfig('extended'))

    'subpixel':
        Subpixel mode improves the precision and is especially useful for long range measurements. It also helps for better estimating surface normals. Set this parameter to true to enable it
        (default: LaunchConfig('subpixel'))

    'rectify':
        enable this to publish rectified images used for depth estimation
        (default: LaunchConfig('rectify'))

    'depth_aligned':
        When depth_aligned is enabled depth map from stereo will be aligned to the RGB camera in the center.
        (default: LaunchConfig('depth_aligned'))

    'manualExposure':
        When manualExposure is enabled, you can set the exposure time(expTime) and ISO(sensIso) of the stereo camera.
        (default: LaunchConfig('manualExposure'))

    'expTime':
        Set the exposure time of the stereo camera. Default value is 20000
        (default: LaunchConfig('expTime'))

    'sensIso':
        Set the ISO of the stereo camera. Default value is 800
        (default: LaunchConfig('sensIso'))

    'enableSpatialDetection':
        When enableSpatialDetection is enabled NN Object detection with Spatial Positioning will be run.
        (default: LaunchConfig('enableSpatialDetection'))

    'syncNN':
        When syncNN is enabled Preview Image will be synced with the Detections.
        (default: LaunchConfig('syncNN'))

    'detectionClassesCount':
        When detectionClassesCount is number of classes the NN contains. Default is set to 80.
        (default: LaunchConfig('detectionClassesCount'))

    'nnName':
        Name of the NN blob being used to load. By default the one in resources folder will be used.
        (default: LaunchConfig('nnName'))

    'resourceBaseFolder':
        Path to the folder where NN Blob is stored.
        (default: LaunchConfig('resourceBaseFolder'))

    'stereo_fps':
        Sets the FPS of the cameras used in the stereo setup.
        (default: LaunchConfig('stereo_fps'))

    'confidence':
        Set the confidence of the depth from 0-255. Max value means allow depth of all confidence. Default is set to 200
        (default: LaunchConfig('confidence'))

    'LRchecktresh':
        Set the LR threshold from 1-10 to get more accurate depth. Default value is 5.
        (default: LaunchConfig('LRchecktresh'))

    'monoResolution':
        Set the resolution of the mono/Stereo setup. Choose between 720p, 400p, 480p, 800p.
        (default: LaunchConfig('monoResolution'))

    'rgbResolution':
        Set the resolution of the RGB setup. Choose between 1080p, 4k, 12MP.
        (default: LaunchConfig('rgbResolution'))

    'rgbScaleNumerator':
        Number of the scale Factor Numberator on top of RGB resolution selection.
        (default: LaunchConfig('rgbScaleNumerator'))

    'rgbScaleDinominator':
        Number of the scale Factor Dinominator on top of RGB resolution selection.
        (default: LaunchConfig('rgbScaleDinominator'))

    'previewWidth':
        Set the width of the preview window used for the NN detection.
        (default: LaunchConfig('previewWidth'))

    'previewHeight':
        Set the height of the preview window used for the NN detection.
        (default: LaunchConfig('previewHeight'))

    'angularVelCovariance':
        Set the angular velocity covariance of the IMU.
        (default: LaunchConfig('angularVelCovariance'))

    'linearAccelCovariance':
        Set the Linear acceleration covariance of the IMU.
        (default: LaunchConfig('linearAccelCovariance'))

    'enableDotProjector':
        set this to true to enable the dot projector structure light (Available only on Pro models).
        (default: LaunchConfig('enableDotProjector'))

    'enableFloodLight':
        Set this to true to enable the flood light for night vision (Available only on Pro models).
        (default: LaunchConfig('enableFloodLight'))

    'dotProjectormA':
        Set the mA at which you intend to drive the dotProjector. Default is set to 200mA.
        (default: LaunchConfig('dotProjectormA'))

    'floodLightmA':
        Set the mA at which you intend to drive the FloodLight. Default is set to 200mA.
        (default: LaunchConfig('floodLightmA'))

    'enableRviz':
        When True create a RVIZ window.
        (default: LaunchConfig('enableRviz'))

    'namespace':
        Specifies the namespace of the robot state publisher node. Default value will be ""
        (default: '')

    'use_composition':
        Use composition to start the robot_state_publisher node. Default value will be false
        (default: 'false')

    'use_base_descr':
        Launch base description. Default value will be false
        (default: 'false')