From 5e90b547cd56b1e5845c92f53dea83cef755612b Mon Sep 17 00:00:00 2001
From: Binit Shah <bshah@hello-robot.com>
Date: Wed, 13 Sep 2023 18:34:03 -0400
Subject: [PATCH] Enable gyro in d435i launch file

---
 stretch_core/launch/d435i_basic.launch | 61 ++++++++++----------------
 1 file changed, 24 insertions(+), 37 deletions(-)

diff --git a/stretch_core/launch/d435i_basic.launch b/stretch_core/launch/d435i_basic.launch
index e8846f4..de50e5c 100644
--- a/stretch_core/launch/d435i_basic.launch
+++ b/stretch_core/launch/d435i_basic.launch
@@ -8,48 +8,38 @@
 
   <!-- REALSENSE D435i -->
   <include file="$(find realsense2_camera)/launch/rs_camera.launch">
-    <!-- "The D435i depth camera generates and transmits the gyro and
-         accelerometer samples independently, as the inertial sensors
-         exhibit different FPS rates (200/400Hz for gyro, 63/250Hz for
-         accelerometer)."
-         https://realsense.intel.com/how-to-getting-imu-data-from-d435i-and-t265/
-         https://github.com/intel-ros/realsense
-         -->
-    <arg name="accel_fps" value="63"/>
-    <arg name="gyro_fps" value="200"/>
-    <arg name="depth_fps" value="15"/>
-    <arg name="enable_infra1" value="false"/>
-    <arg name="enable_infra2" value="false"/>
-    <arg name="enable_accel" value="true"/>
-    <arg name="enable_color" value="true"/>
-    <arg name="enable_depth" value="true"/>
-
-    <arg name="depth_width" value="$(arg depth_width)"/>
-    <arg name="depth_height" value="$(arg depth_height)"/>
-    <arg name="color_width" value="$(arg color_width)"/>
-    <arg name="color_height" value="$(arg color_height)"/>
-  
-    <arg name="color_fps" value="15"/>
+    <arg name="enable_confidence" value="false"/>
+    <arg name="enable_infra1"     value="false"/>
+    <arg name="enable_infra2"     value="false"/>
+    <arg name="enable_infra"      value="false"/>
+    <arg name="enable_color"      value="true"/>
+    <arg name="enable_depth"      value="true"/>
+    <arg name="enable_accel"      value="true"/>
+    <arg name="enable_gyro"       value="true"/>
+
+    <arg name="color_fps"         value="15"/>
+    <arg name="depth_fps"         value="15"/>
+    <arg name="accel_fps"         value="63"/>
+    <arg name="gyro_fps"          value="200"/>
+
+    <arg name="color_width"       value="$(arg color_width)"/>
+    <arg name="color_height"      value="$(arg color_height)"/>
+    <arg name="depth_width"       value="$(arg depth_width)"/>
+    <arg name="depth_height"      value="$(arg depth_height)"/>
 
     <!-- publish depth streams aligned to other streams -->
     <arg name="align_depth" value="true"/>
 
     <!-- publish an RGBD point cloud -->
     <arg name="filters" value="pointcloud"/>
-    
-    <!-- "tf_prefix: By default all frame's ids have the same prefix -
-         camera_. This allows changing it per camera."
-         https://github.com/intel-ros/realsense -->
+    <arg name="enable_pointcloud" value="true"/>
 
-    <!-- "enable_sync: gathers closest frames of different sensors,
+    <!-- enable_sync: gathers closest frames of different sensors,
          infra red, color and depth, to be sent with the same
          timetag. This happens automatically when such filters as
-         pointcloud are enabled."
-         https://github.com/intel-ros/realsense -->
+         pointcloud are enabled. -->
     <arg name="enable_sync" value="true"/>
-    
-    <!-- "You can have a full depth to pointcloud, coloring the
-         regions beyond the texture with zeros..." -->
+
     <!-- Set to true in order to make use of the full field of view of
          the depth image instead of being restricted to the field of
          view associated with the narrower RGB camera. Note that
@@ -57,13 +47,10 @@
          colors set to 0,0,0. -->
     <arg name="allow_no_texture_points" value="true"/>
 
-    <!-- "initial_reset: On occasions the device was not closed
+    <!-- initial_reset: On occasions the device was not closed
          properly and due to firmware issues needs to reset. If set to
-         true, the device will reset prior to usage."
-         https://github.com/intel-ros/realsense -->
+         true, the device will reset prior to usage. -->
     <arg name="initial_reset" value="$(arg rs_initial_reset)"/>
-    
-    <!--<arg name="unite_imu_method" value="copy"/> linear_interpolation-->
 
     <!-- configure the depth image to the high accuracy visual preset -->
     <arg name="json_file_path" value="$(arg rs_initial_preset)" />