Added the configuration path and filename as an argument to the launch files.

Removed the configuration path and filename from the YAML file.

config/640x480_30fps_config.yaml

@@ -3,7 +3,6 @@ height: 480
 video_mode: 'uncompressed'
 frame_rate: 30
 timestamp_method: 'start'
-camera_info_url: ''
 auto_exposure: 3
 auto_exposure_priority: 0
 exposure_absolute: 0.9

launch/uvc_camera.launch

@@ -3,11 +3,13 @@
 
   <arg name="device_file" default="$(find iri_uvc_camera_bringup)/config/devices/logitech_c200.yaml" />
   <arg name="format_file" default="$(find iri_uvc_camera_bringup)/config/640x480_30fps_config.yaml" />
+  <arg name="calib_file" default="$(find iri_uvc_camera_bringup)/calibration/logitech_c270_640x480.yaml" />
 
   <node pkg="libuvc_camera" 
         type="camera_node" 
         name="uvc_camera">
     <rosparam file="$(arg device_file)" command="load" />
     <rosparam file="$(arg format_file)" command="load" />
+    <param name="camera_info_url" value="file://$(arg calib_file)" />
   </node>
 </launch>

launch/uvc_camera_test.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
-  <arg name="device_file" default="$(find iri_uvc_camera_bringup)/config/devices/logitech_c200.yaml" />
+  <arg name="device_file" default="$(find iri_uvc_camera_bringup)/config/devices/logitech_c270.yaml" />
   <arg name="format_file" default="$(find iri_uvc_camera_bringup)/config/640x480_30fps_config.yaml" />
 
   <param name="robot_description"