center.launch

<launch>

  <!-- rosbag play -->
  <arg name="bag"/>
  <param name="use_sim_time" value="true"/>
  <node pkg="rosbag" type="play" name="rosbag_play" args="-r 0.5 --clock $(arg bag)" required="true"/>
  
 
  
  
  
  <!-- Bumblebee XB3 -->
  <group ns="BBX3_7140017">
    <node pkg="bumblebee_xb3" type="bumblebee_xb3_node" name="bumblebee_xb3_node" output="screen"/>
    <group ns="camera/stereo_camera_CR">
      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" output="screen">
	<param name="correlation_window_size" value="31"/>
	<param name="disparity_range" value="128"/>
	<param name="prefilter_size" value="11"/>
	<param name="speckle_range" value="5"/>
	<param name="speckle_size" value="1000"/>
	<param name="stereo_algorithm" value="0"/>
	<param name="texture_threshold" value="0"/>
	<param name="uniqueness_ratio" value="8.0"/>
      </node>
    </group>
  </group>
  
  

  
  
  <node name="extract" pkg="image_view" type="image_saver" respawn="false" output="screen" cwd="ROS_HOME">
  <remap from="image" to="/BBX3_7140017/camera/center/image_raw"/>
  </node>
</launch>