<launch>

  <node pkg="opt_camera" name="nm33_cam_left" type="nm33_node"
	output="screen" clear_params="true">
    <param name="camera_index" value="1" />
    <remap from="camera" to="nm33_cam_left" />
  </node>
  <node pkg="opt_camera" name="nm33_cam_right" type="nm33_node"
	output="screen" clear_params="true">
    <param name="camera_index" value="2" />
    <remap from="camera" to="nm33_cam_right" />
  </node>

  <!-- rename nm33_cam_left/middle -> nm33_cam_middle/left -->
  <node pkg="topic_tools" type="relay"
	name="left_middle_2_middle_left_image"
	args="/nm33_cam_left/middle/image_raw /nm33_cam_middle/left/image_raw" />
  <node pkg="topic_tools" type="relay"
	name="right_middle_2_middle_right_image"
	args="/nm33_cam_right/middle/image_raw /nm33_cam_middle/right/image_raw" />
  <node pkg="topic_tools" type="relay"
	name="left_middle_2_middle_left_info"
	args="/nm33_cam_left/middle/camera_info /nm33_cam_middle/left/camera_info" />
  <node pkg="topic_tools" type="relay"
	name="left_middle_2_middle_right_info"
	args="/nm33_cam_right/middle/camera_info
	      /nm33_cam_middle/right/camera_info" />

  <group ns="nm33_cam_middle">
    <node pkg="stereo_synchronizer" name="stereo_image_proc"
	  type="stereo_image_proc">
    </node>
    <node pkg="image_view" name="stereo_view" type="stereo_view" >
      <remap from="stereo" to="/" />
      <remap from="image" to="/image_rect" />
    </node>
  </group>

  <node pkg="dynamic_reconfigure" name="reconfigure_gui"
	type="reconfigure_gui" />
  <node pkg="dynamic_reconfigure" name="dynaparam"
	type="dynparam" args="load /optcam_node $(find opt_camera)/launch/optnm33_camera.yaml" />
</launch>



