Hi marlu
I am unfamiliar with ROS, but I managed to find this (link):
As for the parameters themselves, there are a few crucial ones that decide on how camera behaves.
* `camera_i_pipeline_type` can be either
* `RGB` - only publishes RGB stream , NN available
* `RGBD` - Publishes RGB + Depth streams (set `i_publish_topic` for left and right cameras to enable them), NN & Spatial NN available
* `Stereo` - Publishes streams from left and right sensors, NN not available
* `RGBStereo` - Publishes RGB + Left + Right streams, only RGB NN available
* `Depth` - Publishes only depth stream, no NN available
* `CamArray` - Publishes streams for all detected sensors, no NN available
This tells the camera whether it should load stereo components. Default set to `RGBD`.
Hope this helps,
Jaka
