Camera launch ignores camera info urls

Hello, I am using an Orbbec Astra camera with the astra drivers. My launch file looks like this: The problem is that, even though it launches the camera, it completely ignores my camera info urls, where I have the calibration parameters; so my depth image looks completely bad. The output for rostopic echo /camera/depth/camera_info is: header: seq: 818 stamp: secs: 1497437986 nsecs: 339961044 frame_id: camera_depth_optical_frame height: 480 width: 640 distortion_model: plumb_bob D: [0.0, 0.0, 0.0, 0.0, 0.0] K: [570.3422241210938, 0.0, 314.5, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 1.0] R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] P: [570.3422241210938, 0.0, 314.5, 0.0, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 0.0, 1.0, 0.0] binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: False ----------------------------------------------- But in the url file the parameters look like: image_width: 640 image_height: 480 camera_name: "depth_Orbbec_Orbbec " camera_matrix: rows: 3 cols: 3 data: [586.0295803105151, 0, 325.1107120728067, 0, 585.5541564977655, 242.3986130691661, 0, 0, 1] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.03292964909879049, 0.08060137821556344, -0.001139453780851402, 0.007361020257652488, 0] rectification_matrix: rows: 3 cols: 3 data: [1, 0, 0, 0, 1, 0, 0, 0, 1] projection_matrix: rows: 3 cols: 4 data: [586.5491943359375, 0, 328.8950540238802, 0, 0, 589.6646118164062, 241.3611304274491, 0, 0, 0, 1, 0] I am trying to calibrate the camera but, if the launch file ignores the files, I am not able to check if the calibration was good. How can I solve this? Regards