参考博客:点这
轻微修改:
<arg name="emitter_enable" default="false"/>
后增加以下代码
<!-- rosparam set /camera/stereo_module/emitter_enabled false -->
<rosparam>
/camera/stereo_module/emitter_enabled: 0
</rosparam>
<rosparam if="$(arg emitter_enable)">
/camera/stereo_module/emitter_enabled: 1
</rosparam>