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<!-- Launch in the camera namespace containing "image_raw" and "camera_info" -->
<launch>
<arg name="manager" /> <!-- Must be globally qualified -->
<arg name="respawn" default="false" />
<!-- TODO Arguments for debayer, interpolation methods? -->
<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />
<!-- Debayered images -->
<node pkg="nodelet" type="nodelet" name="debayer"
args="load image_proc/debayer $(arg manager) $(arg bond)"
respawn="$(arg respawn)" />
<!-- Monochrome rectified image -->
<node pkg="nodelet" type="nodelet" name="rectify_mono"
args="load image_proc/rectify $(arg manager) $(arg bond)"
respawn="$(arg respawn)" />
<!-- Color rectified image -->
<node pkg="nodelet" type="nodelet" name="rectify_color"
args="load image_proc/rectify $(arg manager) $(arg bond)"
respawn="$(arg respawn)">
<remap from="image_mono" to="image_color" />
<remap from="image_rect" to="image_rect_color" />
</node>
</launch>
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