<launch>
  
  <!-- REALSENSE D435i -->
  <include file="$(find stretch_core)/launch/d435i_basic.launch" pass_all_args="true">
    <!--
	HIGHEST RESOLUTION, but also has the highest minimum depth
	(280mm Min-Z) below which objects generate bad noise, such as
	when the arm and gripper are raised close to the camera.
    -->
    <arg name="depth_width" value="1280"/>
    <arg name="depth_height" value="720"/>
    <arg name="color_width" value="1280"/>
    <arg name="color_height" value="720"/>
  </include>
  
</launch>
