From 550d4d7cfdd177bac66e1a71a5ba9946aa059f63 Mon Sep 17 00:00:00 2001
From: Osenberg <junyangqu@slightech.com>
Date: Wed, 27 Mar 2019 11:15:57 +0800
Subject: [PATCH] feat(ros): compatible yaml configure file for
 sub/mynteye_*.launch

---
 .../launch/sub/mynteye_1.launch               | 248 +-----------------
 .../launch/sub/mynteye_2.launch               | 248 +-----------------
 2 files changed, 8 insertions(+), 488 deletions(-)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch
index 3885271..5b88e9a 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch
@@ -41,191 +41,6 @@
   <arg name="gravity" default="9.8" />
 
   <arg name="mesh_file" default="S1030-0315.obj" />
-
-  <!-- stream toggles -->
-
-  <!-- Request index -->
-
-  <!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
-
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
-  <arg name="index_s2_0"   default="0" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
-  <arg name="index_s2_1"   default="1" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
-  <arg name="index_s2_2"   default="2" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
-  <arg name="index_s2_3"   default="3" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
-  <arg name="index_s2_4"   default="4" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
-  <arg name="index_s2_5"   default="5" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
-  <arg name="index_s2_6"   default="6" />
-
-  <arg name="standard2/request_index" default="$(arg index_s2_2)" />
-
-  <!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
-  <arg name="index_s_0"   default="0" />
-  <!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
-  <arg name="index_s_1"   default="1" />
-
-  <arg name="standard/request_index" default="$(arg index_s_0)" />
-
-  <!-- disparity computing method type -->
-  <arg name="sgbm"   default="0" />
-  <arg name="bm"   default="1" />
-  <arg name="disparity_computing_method"   default="$(arg bm)" />
-
-  <arg name="enable_left_rect" default="false" />
-  <arg name="enable_right_rect" default="false" />
-  <arg name="enable_disparity" default="false" />
-  <arg name="enable_disparity_norm" default="false" />
-  <arg name="enable_points" default="false" />
-  <arg name="enable_depth" default="false" />
-
-  <!-- device options of standard, -1 will not set the value -->
-
-  <!-- standard/gain range: [0,48] -->
-  <arg name="standard/gain" default="-1" />
-  <!-- <arg name="standard/gain" default="24" /> -->
-
-  <!-- standard/brightness range: [0,240] -->
-  <arg name="standard/brightness" default="-1" />
-  <!-- <arg name="standard/brightness" default="120" /> -->
-
-  <!-- contrast range: [0,255] -->
-  <arg name="standard/contrast" default="-1" />
-  <!-- <arg name="standard/contrast" default="127" /> -->
-
-  <!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
-  <arg name="standard/frame_rate" default="-1" />
-  <!-- <arg name="standard/frame_rate" default="25" /> -->
-
-  <!-- standard/imu_frequency range: {100,200,250,333,500} -->
-  <arg name="standard/imu_frequency" default="-1" />
-  <!-- <arg name="standard/imu_frequency" default="200" /> -->
-
-  <!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
-  <arg name="standard/exposure_mode" default="-1" />
-  <!-- <arg name="standard/exposure_mode" default="0" /> -->
-
-  <!-- standard/max_gain range: [0,48] -->
-  <arg name="standard/max_gain" default="-1" />
-  <!-- <arg name="standard/max_gain" default="48" /> -->
-
-  <!-- standard/max_exposure_time range: [0,240] -->
-  <arg name="standard/max_exposure_time" default="-1" />
-  <!-- <arg name="standard/max_exposure_time" default="240" /> -->
-
-  <!-- standard/desired_brightness range: [0,255] -->
-  <arg name="standard/desired_brightness" default="-1" />
-  <!-- <arg name="standard/desired_brightness" default="192" /> -->
-
-  <!-- standard/ir_control range: [0,160] -->
-  <arg name="standard/ir_control" default="80" />
-  <!-- <arg name="standard/ir_control" default="0" /> -->
-
-  <!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
-  <arg name="standard/hdr_mode" default="-1" />
-  <!-- <arg name="standard/hdr_mode" default="0" /> -->
-
-  <!-- standard/accel_range range: {4,8,16,32} -->
-  <arg name="standard/accel_range" default="-1" />
-  <!-- <arg name="standard/accel_range" default="8" /> -->
-
-  <!-- standard/gyro_range range: {500,1000,2000,4000} -->
-  <arg name="standard/gyro_range" default="-1" />
-  <!-- <arg name="standard/gyro_range" default="1000" /> -->
-
-  <!-- device options of standard2, -1 will not set the value -->
-
-  <!-- standard2/brightness range: [0,240] -->
-  <arg name="standard2/brightness" default="-1" />
-  <!-- <arg name="standard2/brightness" default="120" /> -->
-
-  <!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
-  <arg name="standard2/exposure_mode" default="-1" />
-  <!-- <arg name="standard2/exposure_mode" default="0" /> -->
-
-  <!-- standard2/max_gain range: [0,255] -->
-  <arg name="standard2/max_gain" default="-1" />
-  <!-- <arg name="standard2/max_gain" default="8" /> -->
-
-  <!-- standard2/max_exposure_time range: [0,1000] -->
-  <arg name="standard2/max_exposure_time" default="-1" />
-  <!-- <arg name="standard2/max_exposure_time" default="333" /> -->
-
-  <!-- standard2/desired_brightness range: [1,255] -->
-  <arg name="standard2/desired_brightness" default="-1" />
-  <!-- <arg name="standard2/desired_brightness" default="122" /> -->
-
-  <!-- standard2/min_exposure_time range: [0,1000] -->
-  <arg name="standard2/min_exposure_time" default="-1" />
-  <!-- <arg name="standard2/min_exposure_time" default="0" /> -->
-
-  <!-- standard2/ir_control range: [0,160] -->
-  <arg name="standard2/ir_control" default="80" />
-  <!-- <arg name="standard2/ir_control" default="0" /> -->
-
-  <!-- standard2/accel_range range: [6,48] -->
-  <arg name="standard2/accel_range" default="24" />
-  <!-- <arg name="standard2/accel_range" default="6" /> -->
-
-  <!-- standard2/gyro_range range: [250,4000] -->
-  <arg name="standard2/gyro_range" default="-1" />
-  <!-- <arg name="standard2/gyro_range" default="1000" /> -->
-
-  <!-- standard2/accel_low_filter range: [0,2] -->
-  <arg name="standard2/accel_low_filter" default="-1" />
-  <!-- <arg name="standard2/accel_low_filter" default="2" /> -->
-
-  <!-- standard2/gyro_low_filter range: [23,64] -->
-  <arg name="standard2/gyro_low_filter" default="-1" />
-  <!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
-
-  <!-- device options of standard210a, -1 will not set the value -->
-
-  <!-- standard210a/brightness range: [0,240] -->
-  <arg name="standard210a/brightness" default="-1" />
-  <!-- <arg name="standard210a/brightness" default="120" /> -->
-
-  <!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
-  <arg name="standard210a/exposure_mode" default="-1" />
-  <!-- <arg name="standard210a/exposure_mode" default="0" /> -->
-
-  <!-- standard210a/max_gain range: [0,255] -->
-  <arg name="standard210a/max_gain" default="-1" />
-  <!-- <arg name="standard210a/max_gain" default="8" /> -->
-
-  <!-- standard210a/max_exposure_time range: [0,1000] -->
-  <arg name="standard210a/max_exposure_time" default="-1" />
-  <!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
-
-  <!-- standard210a/desired_brightness range: [1,255] -->
-  <arg name="standard210a/desired_brightness" default="-1" />
-  <!-- <arg name="standard210a/desired_brightness" default="122" /> -->
-
-  <!-- standard210a/min_exposure_time range: [0,1000] -->
-  <arg name="standard210a/min_exposure_time" default="-1" />
-  <!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
-
-  <!-- standard210a/accel_range range: [6,48] -->
-  <arg name="standard210a/accel_range" default="-1" />
-  <!-- <arg name="standard210a/accel_range" default="6" /> -->
-
-  <!-- standard210a/gyro_range range: [250,4000] -->
-  <arg name="standard210a/gyro_range" default="-1" />
-  <!-- <arg name="standard210a/gyro_range" default="1000" /> -->
-
-  <!-- standard210a/accel_low_filter range: [0,2] -->
-  <arg name="standard210a/accel_low_filter" default="-1" />
-  <!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
-
-  <!-- standard210a/gyro_low_filter range: [23,64] -->
-  <arg name="standard210a/gyro_low_filter" default="-1" />
-  <!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
-
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
@@ -265,66 +80,11 @@
 
       <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
 
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+
       <param name="gravity" value="$(arg gravity)" />
-
-      <param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
-
-      <!-- stream toggles -->
-
-      <param name="enable_left_rect" value="$(arg enable_left_rect)" />
-      <param name="enable_right_rect" value="$(arg enable_right_rect)" />
-      <param name="enable_disparity" value="$(arg enable_disparity)" />
-      <param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
-      <param name="enable_points" value="$(arg enable_points)" />
-      <param name="enable_depth" value="$(arg enable_depth)" />
-
-      <!-- stream request index -->
-      <param name="standard/request_index" value="$(arg standard/request_index)" />
-      <param name="standard2/request_index" value="$(arg standard2/request_index)" />
-
-      <!-- device options of standard-->
-
-      <param name="standard/gain" value="$(arg standard/gain)" />
-      <param name="standard/brightness" value="$(arg standard/brightness)" />
-      <param name="standard/contrast" value="$(arg standard/contrast)" />
-      <param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
-      <param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
-      <param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
-      <param name="standard/max_gain" value="$(arg standard/max_gain)" />
-      <param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
-      <param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
-      <param name="standard/ir_control" value="$(arg standard/ir_control)" />
-      <param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
-      <param name="standard/accel_range" value="$(arg standard/accel_range)" />
-      <param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
-
-      <!-- device options of standard2-->
-
-      <param name="standard2/brightness" value="$(arg standard2/brightness)" />
-      <param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
-      <param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
-      <param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
-      <param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
-      <param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
-      <param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
-      <param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
-      <param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
-      <param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
-      <param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
-
-      <!-- device options of standard210a-->
-
-      <param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
-      <param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
-      <param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
-      <param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
-      <param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
-      <param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
-      <param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
-      <param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
-      <param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
-      <param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
-
     </node>
 
     <!-- disable compressed depth plugin for image topics -->
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch
index 66215a0..b4bce02 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch
@@ -41,191 +41,6 @@
   <arg name="gravity" default="9.8" />
 
   <arg name="mesh_file" default="S1030-0315.obj" />
-
-  <!-- stream toggles -->
-
-  <!-- Request index -->
-
-  <!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
-
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
-  <arg name="index_s2_0"   default="0" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
-  <arg name="index_s2_1"   default="1" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
-  <arg name="index_s2_2"   default="2" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
-  <arg name="index_s2_3"   default="3" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
-  <arg name="index_s2_4"   default="4" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
-  <arg name="index_s2_5"   default="5" />
-  <!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
-  <arg name="index_s2_6"   default="6" />
-
-  <arg name="standard2/request_index" default="$(arg index_s2_2)" />
-
-  <!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
-  <arg name="index_s_0"   default="0" />
-  <!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
-  <arg name="index_s_1"   default="1" />
-
-  <arg name="standard/request_index" default="$(arg index_s_0)" />
-
-  <!-- disparity computing method type -->
-  <arg name="sgbm"   default="0" />
-  <arg name="bm"   default="1" />
-  <arg name="disparity_computing_method"   default="$(arg bm)" />
-
-  <arg name="enable_left_rect" default="false" />
-  <arg name="enable_right_rect" default="false" />
-  <arg name="enable_disparity" default="false" />
-  <arg name="enable_disparity_norm" default="false" />
-  <arg name="enable_points" default="false" />
-  <arg name="enable_depth" default="false" />
-
-  <!-- device options of standard, -1 will not set the value -->
-
-  <!-- standard/gain range: [0,48] -->
-  <arg name="standard/gain" default="-1" />
-  <!-- <arg name="standard/gain" default="24" /> -->
-
-  <!-- standard/brightness range: [0,240] -->
-  <arg name="standard/brightness" default="-1" />
-  <!-- <arg name="standard/brightness" default="120" /> -->
-
-  <!-- contrast range: [0,255] -->
-  <arg name="standard/contrast" default="-1" />
-  <!-- <arg name="standard/contrast" default="127" /> -->
-
-  <!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
-  <arg name="standard/frame_rate" default="-1" />
-  <!-- <arg name="standard/frame_rate" default="25" /> -->
-
-  <!-- standard/imu_frequency range: {100,200,250,333,500} -->
-  <arg name="standard/imu_frequency" default="-1" />
-  <!-- <arg name="standard/imu_frequency" default="200" /> -->
-
-  <!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
-  <arg name="standard/exposure_mode" default="-1" />
-  <!-- <arg name="standard/exposure_mode" default="0" /> -->
-
-  <!-- standard/max_gain range: [0,48] -->
-  <arg name="standard/max_gain" default="-1" />
-  <!-- <arg name="standard/max_gain" default="48" /> -->
-
-  <!-- standard/max_exposure_time range: [0,240] -->
-  <arg name="standard/max_exposure_time" default="-1" />
-  <!-- <arg name="standard/max_exposure_time" default="240" /> -->
-
-  <!-- standard/desired_brightness range: [0,255] -->
-  <arg name="standard/desired_brightness" default="-1" />
-  <!-- <arg name="standard/desired_brightness" default="192" /> -->
-
-  <!-- standard/ir_control range: [0,160] -->
-  <arg name="standard/ir_control" default="80" />
-  <!-- <arg name="standard/ir_control" default="0" /> -->
-
-  <!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
-  <arg name="standard/hdr_mode" default="-1" />
-  <!-- <arg name="standard/hdr_mode" default="0" /> -->
-
-  <!-- standard/accel_range range: {4,8,16,32} -->
-  <arg name="standard/accel_range" default="-1" />
-  <!-- <arg name="standard/accel_range" default="8" /> -->
-
-  <!-- standard/gyro_range range: {500,1000,2000,4000} -->
-  <arg name="standard/gyro_range" default="-1" />
-  <!-- <arg name="standard/gyro_range" default="1000" /> -->
-
-  <!-- device options of standard2, -1 will not set the value -->
-
-  <!-- standard2/brightness range: [0,240] -->
-  <arg name="standard2/brightness" default="-1" />
-  <!-- <arg name="standard2/brightness" default="120" /> -->
-
-  <!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
-  <arg name="standard2/exposure_mode" default="-1" />
-  <!-- <arg name="standard2/exposure_mode" default="0" /> -->
-
-  <!-- standard2/max_gain range: [0,255] -->
-  <arg name="standard2/max_gain" default="-1" />
-  <!-- <arg name="standard2/max_gain" default="8" /> -->
-
-  <!-- standard2/max_exposure_time range: [0,1000] -->
-  <arg name="standard2/max_exposure_time" default="-1" />
-  <!-- <arg name="standard2/max_exposure_time" default="333" /> -->
-
-  <!-- standard2/desired_brightness range: [1,255] -->
-  <arg name="standard2/desired_brightness" default="-1" />
-  <!-- <arg name="standard2/desired_brightness" default="122" /> -->
-
-  <!-- standard2/min_exposure_time range: [0,1000] -->
-  <arg name="standard2/min_exposure_time" default="-1" />
-  <!-- <arg name="standard2/min_exposure_time" default="0" /> -->
-
-  <!-- standard2/ir_control range: [0,160] -->
-  <arg name="standard2/ir_control" default="80" />
-  <!-- <arg name="standard2/ir_control" default="0" /> -->
-
-  <!-- standard2/accel_range range: [6,48] -->
-  <arg name="standard2/accel_range" default="24" />
-  <!-- <arg name="standard2/accel_range" default="6" /> -->
-
-  <!-- standard2/gyro_range range: [250,4000] -->
-  <arg name="standard2/gyro_range" default="-1" />
-  <!-- <arg name="standard2/gyro_range" default="1000" /> -->
-
-  <!-- standard2/accel_low_filter range: [0,2] -->
-  <arg name="standard2/accel_low_filter" default="-1" />
-  <!-- <arg name="standard2/accel_low_filter" default="2" /> -->
-
-  <!-- standard2/gyro_low_filter range: [23,64] -->
-  <arg name="standard2/gyro_low_filter" default="-1" />
-  <!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
-
-  <!-- device options of standard210a, -1 will not set the value -->
-
-  <!-- standard210a/brightness range: [0,240] -->
-  <arg name="standard210a/brightness" default="-1" />
-  <!-- <arg name="standard210a/brightness" default="120" /> -->
-
-  <!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
-  <arg name="standard210a/exposure_mode" default="-1" />
-  <!-- <arg name="standard210a/exposure_mode" default="0" /> -->
-
-  <!-- standard210a/max_gain range: [0,255] -->
-  <arg name="standard210a/max_gain" default="-1" />
-  <!-- <arg name="standard210a/max_gain" default="8" /> -->
-
-  <!-- standard210a/max_exposure_time range: [0,1000] -->
-  <arg name="standard210a/max_exposure_time" default="-1" />
-  <!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
-
-  <!-- standard210a/desired_brightness range: [1,255] -->
-  <arg name="standard210a/desired_brightness" default="-1" />
-  <!-- <arg name="standard210a/desired_brightness" default="122" /> -->
-
-  <!-- standard210a/min_exposure_time range: [0,1000] -->
-  <arg name="standard210a/min_exposure_time" default="-1" />
-  <!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
-
-  <!-- standard210a/accel_range range: [6,48] -->
-  <arg name="standard210a/accel_range" default="-1" />
-  <!-- <arg name="standard210a/accel_range" default="6" /> -->
-
-  <!-- standard210a/gyro_range range: [250,4000] -->
-  <arg name="standard210a/gyro_range" default="-1" />
-  <!-- <arg name="standard210a/gyro_range" default="1000" /> -->
-
-  <!-- standard210a/accel_low_filter range: [0,2] -->
-  <arg name="standard210a/accel_low_filter" default="-1" />
-  <!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
-
-  <!-- standard210a/gyro_low_filter range: [23,64] -->
-  <arg name="standard210a/gyro_low_filter" default="-1" />
-  <!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
-
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
@@ -265,66 +80,11 @@
 
       <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
 
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+
       <param name="gravity" value="$(arg gravity)" />
-
-      <param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
-
-      <!-- stream toggles -->
-
-      <param name="enable_left_rect" value="$(arg enable_left_rect)" />
-      <param name="enable_right_rect" value="$(arg enable_right_rect)" />
-      <param name="enable_disparity" value="$(arg enable_disparity)" />
-      <param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
-      <param name="enable_points" value="$(arg enable_points)" />
-      <param name="enable_depth" value="$(arg enable_depth)" />
-
-      <!-- stream request index -->
-      <param name="standard/request_index" value="$(arg standard/request_index)" />
-      <param name="standard2/request_index" value="$(arg standard2/request_index)" />
-
-      <!-- device options of standard-->
-
-      <param name="standard/gain" value="$(arg standard/gain)" />
-      <param name="standard/brightness" value="$(arg standard/brightness)" />
-      <param name="standard/contrast" value="$(arg standard/contrast)" />
-      <param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
-      <param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
-      <param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
-      <param name="standard/max_gain" value="$(arg standard/max_gain)" />
-      <param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
-      <param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
-      <param name="standard/ir_control" value="$(arg standard/ir_control)" />
-      <param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
-      <param name="standard/accel_range" value="$(arg standard/accel_range)" />
-      <param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
-
-      <!-- device options of standard2-->
-
-      <param name="standard2/brightness" value="$(arg standard2/brightness)" />
-      <param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
-      <param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
-      <param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
-      <param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
-      <param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
-      <param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
-      <param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
-      <param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
-      <param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
-      <param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
-
-      <!-- device options of standard210a-->
-
-      <param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
-      <param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
-      <param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
-      <param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
-      <param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
-      <param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
-      <param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
-      <param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
-      <param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
-      <param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
-
     </node>
 
     <!-- disable compressed depth plugin for image topics -->