<launch>
  <arg name="enable_raw" default="false"/>
  <arg name="enable_imv" default="false"/>
  <arg name="camera_id" default="0"/>
  <arg name="camera_frame_id" default="raspicam"/>
  <arg name="camera_name" default="camerav1_1280x720"/>

  <node type="raspicam_node" pkg="raspicam_node" name="raspicam_node" output="screen">
    <param name="private_topics" value="true"/>

    <param name="camera_frame_id" value="$(arg camera_frame_id)"/>
    <param name="enable_raw" value="$(arg enable_raw)"/>
    <param name="enable_imv" value="$(arg enable_imv)"/>
    <param name="camera_id" value="$(arg camera_id)"/>

    <param name="camera_info_url" value="package://raspicam_node/camera_info/camerav1_1280x720.yaml"/>
    <param name="camera_name" value="$(arg camera_name)"/>
    <param name="width" value="320"/>
    <param name="height" value="240"/>

    <!-- We are running at 20fps to reduce motion blur -->
    <param name="framerate" value="20"/>
  </node>
</launch>
