# RealSense D435i configuration — Jetson Nano (power-budget tuned)
#
# Profile format: WxHxFPS
# Constraint: ~10W total budget. 640x480x15 saves ~0.4W vs 30fps.
#
# Reference topics at these settings:
#   /camera/color/image_raw               640x480  15 Hz   RGB8
#   /camera/depth/image_rect_raw          640x480  15 Hz   Z16
#   /camera/aligned_depth_to_color/image_raw  640x480  15 Hz  Z16
#   /camera/imu                           6-axis   ~200 Hz  (accel@100Hz + gyro@400Hz fused)
#   /camera/color/camera_info             640x480  15 Hz
#   /camera/depth/camera_info             640x480  15 Hz
#
# Hardware IMU: Bosch BMI055
#   Accelerometer native rate: 100 Hz
#   Gyroscope native rate:     400 Hz
#   unite_imu_method=2: linearly interpolates accel to match gyro timestamps

camera:
  ros__parameters:
    # ── Streams ──────────────────────────────────────────────────────────────
    depth_module.profile: "640x480x15"
    rgb_camera.profile:   "640x480x15"

    enable_depth:   true
    enable_color:   true
    enable_infra1:  false    # not needed for RGB-D SLAM
    enable_infra2:  false

    # ── IMU ──────────────────────────────────────────────────────────────────
    enable_gyro:          true
    enable_accel:         true
    # 0=none  1=copy  2=linear_interpolation
    # Use 2: aligns accel timestamps to gyro rate, required for sensor fusion
    unite_imu_method:     2

    # ── Alignment ────────────────────────────────────────────────────────────
    # Projects depth pixels into RGB frame — required for rtabmap_ros rgbd input
    align_depth.enable:   true

    # ── Point cloud ──────────────────────────────────────────────────────────
    # Disabled: rtabmap_ros generates its own from aligned depth.
    # Maxwell GPU cannot handle both simultaneously at budget.
    pointcloud.enable:    false

    # ── TF ───────────────────────────────────────────────────────────────────
    publish_tf:       true
    tf_publish_rate:  0.0    # 0 = publish static transforms only (no redundant timer)

    # ── Device ───────────────────────────────────────────────────────────────
    # Leave serial_no empty to auto-select first found device
    # serial_no: ''
    # device_type: d435i