diff --git a/launch/stereo.launch b/launch/stereo.launch
index 5d2e03c..c5523f9 100644
--- a/launch/stereo.launch
+++ b/launch/stereo.launch
@@ -6,6 +6,15 @@
   <arg     if="$(arg respawn)" name="bond" value="" />
   <arg unless="$(arg respawn)" name="bond" value="--no-bond" />
 
+  <!-- arguments for camera param uri -->
+  <arg name="camera_info_url_default" default="file://$(find ps4eye)/camera_info/default.yaml" />
+  <arg name="camera_info_url_right" default="file://$(find ps4eye)/camera_info/right.yaml" />
+  <arg name="camera_info_url_left" default="file://$(find ps4eye)/camera_info/left.yaml" />
+
+  <!-- arguments for tf coords -->
+  <arg name="parent_frame" default="/map" />
+  <arg name="parent_transform" default="0 0 1 -1.57 0 -1.57" />
+
   <!-- This launchfile should bring up a node that broadcasts a ros image
        transport on /webcam/image_raw -->
   <arg name="DEVICE" default="/dev/video1"/>
@@ -20,12 +29,12 @@
     <param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-yuv,framerate=$(arg FPS),width=$(arg width),height=$(arg height) ! ffmpegcolorspace"/>
     <param name="frame_id" value="/ps4eye_frame"/>
     <param name="sync_sink" value="true"/>
-    <param name="camera_info_url" value="file://$(find ps4eye)/camera_info/default.yaml" />
+    <param name="camera_info_url" value="$(arg camera_info_url_default)" />
   </node>
   <!-- Split image to left and right image -->
   <node pkg="nodelet" type="nodelet" name="standalone" args="manager"/>
   <node pkg="nodelet" type="nodelet" name="split_right" args="load image_proc/crop_decimate standalone">
-    <param name="camera_info_url" value="file://$(find ps4eye)/camera_info/right.yaml" />
+    <param name="camera_info_url" value="$(arg camera_info_url_right)" />
     <param name="queue_size" type="int" value="10" />
     <param name="x_offset" type="int" value="48" />
     <param name="y_offset" type="int" value="0" />
@@ -38,7 +47,7 @@
     <remap from="/stereo/right/camera_info" to="/null/right/camera_info" />
   </node>  
   <node pkg="nodelet" type="nodelet" name="split_left" args="load image_proc/crop_decimate standalone">
-    <param name="camera_info_url" value="file://$(find ps4eye)/camera_info/left.yaml" />
+    <param name="camera_info_url" value="$(arg camera_info_url_left)" />
     <param name="queue_size" type="int" value="10" />
     <param name="x_offset" type="int" value="688" />
     <param name="y_offset" type="int" value="0" />
@@ -50,8 +59,8 @@
     <!-- Dont use original camera info -->
     <remap from="/stereo/left/camera_info" to="/null/left/camera_info" />
   </node>  
-  <node name="camera_transform" pkg="tf" type="static_transform_publisher" args="0 0 1 -1.57 0 -1.57 /map /ps4eye_frame 10"/>
+  <node name="camera_transform" pkg="tf" type="static_transform_publisher" args="$(arg parent_transform) $(arg parent_frame) /ps4eye_frame 10"/>
 
   <node pkg="ps4eye" type="camera_info_publisher.py" name="camera_info_publisher" />
   <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" ns="stereo"/>
-</launch>
\ No newline at end of file
+</launch>