diff --git a/stretch_core/launch/d435i_basic.launch.py b/stretch_core/launch/d435i_basic.launch.py
index 9c6669e..c1bcedd 100644
--- a/stretch_core/launch/d435i_basic.launch.py
+++ b/stretch_core/launch/d435i_basic.launch.py
@@ -18,6 +18,7 @@
                            {'name': 'depth_module.profile',         'default': '848x480x15', 'description': 'depth module profile'},
                            {'name': 'depth_module.depth_profile',   'default': '848x480x15', 'description': 'depth module profile'},
                            {'name': 'depth_module.infra_profile',   'default': '848x480x15', 'description': 'depth module profile'},
+                           {'name': 'depth_module.exposure',        'default': '8500', 'description': 'depth module exposure'},
                            {'name': 'enable_depth',                 'default': 'true', 'description': 'enable depth stream'},
                            {'name': 'rgb_camera.profile',           'default': '1280x720x15', 'description': 'color image width'},
                            {'name': 'rgb_camera.color_profile',     'default': '1280x720x15', 'description': 'color image width'},
diff --git a/stretch_core/launch/stretch_realsense.launch.py b/stretch_core/launch/stretch_realsense.launch.py
index 0783e62..9108098 100644
--- a/stretch_core/launch/stretch_realsense.launch.py
+++ b/stretch_core/launch/stretch_realsense.launch.py
@@ -11,6 +11,7 @@
 configurable_parameters = [{'name': 'resolution',                          'default': 'high', 'description': 'resolution of the color/depth images low or high'},
                            {'name': 'publish_frustum_viz',                 'default': 'false', 'description': 'whether to pub viz of camera frustums'},
                            {'name': 'publish_upright_img',                 'default': 'true', 'description': 'whether to pub rotated upright color image'},
+                           {'name': 'depth_module_exposure',               'default': '8500', 'description': 'depth module exposure'}
                           ]
 
 def declare_configurable_parameters(parameters):
@@ -20,19 +21,22 @@ def generate_launch_description():
      publish_frustum_viz = LaunchConfiguration('publish_frustum_viz')
      publish_upright_img = LaunchConfiguration('publish_upright_img')
      resolution = LaunchConfiguration('resolution')
+     depth_module_exposure = LaunchConfiguration('depth_module_exposure')
 
      d435i_high_launch = IncludeLaunchDescription(
           PythonLaunchDescriptionSource([os.path.join(
                get_package_share_directory('stretch_core'), 'launch'),
                '/d435i_high_resolution.launch.py']),
-               condition=LaunchConfigurationEquals('resolution', 'high')
+               condition=LaunchConfigurationEquals('resolution', 'high'),
+               launch_arguments={'depth_module.exposure': depth_module_exposure}.items()
           )
 
      d435i_low_launch = IncludeLaunchDescription(
           PythonLaunchDescriptionSource([os.path.join(
                get_package_share_directory('stretch_core'), 'launch'),
                '/d435i_low_resolution.launch.py']),
-               condition=LaunchConfigurationEquals('resolution', 'low')
+               condition=LaunchConfigurationEquals('resolution', 'low'),
+               launch_arguments={'depth_module.exposure': depth_module_exposure}.items()
           )
 
      d435i_configure = Node(