<launch>

	<arg name="camera_config" value="AR0134_640x484.json" /> <!-- Config file in camera_config_files folder of your camera. -->
	<arg name="serial_number" value="" /> <!-- Serial number of the camera in the form of "XXXX-XXXX-XXXX", leave it blank "" if there is only one camera. -->
	<arg name="horizontal_flip" value="false" /> <!-- Flip image horizontally. -->
	<arg name="vertical_flip" value="false" /> <!-- Flip image vertically. -->
	<arg name="frame_id" value="camera" /> <!--Topic frame_id. -->

	<node name="arducam_trigger_ros_node" pkg="arducam_usb2_ros" type="arducam_trigger_ros_node.py" output="screen">
	    <param name="config_file" value="$(find arducam_usb2_ros)/camera_config_files/$(arg camera_config)" />
	    <param name="camera_serial" value="$(arg serial_number)" />
	    <param name="horizontal_flip" value="$(arg horizontal_flip)" />
	    <param name="vertical_flip" value="$(arg vertical_flip)" />
	    <param name="frame_id" value="$(arg frame_id)" />
	</node>

    <arg name="config_path" default = "$(find feature_tracker)/../config/black_box/diy.yaml" />
	  <arg name="vins_path" default = "$(find feature_tracker)/../config/../" />
    
    <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log">
        <param name="config_file" type="string" value="$(arg config_path)" />
        <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>

    <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="screen">
       <param name="config_file" type="string" value="$(arg config_path)" />
       <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>


</launch>