d435i_high_resolution.launch

<launch>

  <!-- D435i Base -->
  <include file="$(find stretch_core)/launch/d435i_basic.launch" pass_all_args="true">
    <!-- HIGHEST RESOLUTION, but also has the highest minimum depth
         (280mm Min-Z) below which objects generate bad noise, such as
         when the arm and gripper are raised close to the camera. -->
    <arg name="depth_width"  value="1280"/>
    <arg name="depth_height" value="720"/>
    <arg name="color_width"  value="1280"/>
    <arg name="color_height" value="720"/>
  </include>

</launch>