# mode 0:   MODE_9_5FPS_2000
# mode 1:   MODE_9_10FPS_1000
# mode 2:   MODE_9_15FPS_700
# mode 3:   MODE_9_25FPS_450
# mode 4:   MODE_5_35FPS_600
# mode 5:   MODE_5_45FPS_500
cam0:
    cam_id: 0005-1203-0034-1816
    exposure_time: 2000
    auto_exposure_time: false
    topic_name: pcl
    operation_mode: MODE_9_5FPS_2000
# mode 0:   MODE_9_5FPS_2000
# mode 1:   MODE_9_10FPS_1000
# mode 2:   MODE_9_15FPS_700
# mode 3:   MODE_9_25FPS_450
# mode 4:   MODE_5_35FPS_600
# mode 5:   MODE_5_45FPS_500
cam0:
    cam_id: 0005-1203-0034-1816
    exposure_time: 2000
    auto_exposure_time: false
    topic_name: pcl
    topic_depth: depth/image_raw
    operation_mode: MODE_9_5FPS_2000

Add topic Name of depth image
Add topic Name of depth image