def prl_utils(device_type='kinect', camera_name='', quality=()):
    """Returns default rgb and depth topics for the kinect sensors

    Keyword Arguments:
        device_type {str} -- device type, one of 'kinect', 'kinect2', 'realsense' (default: {'kinect'})
        camera_name {str} -- camera unique identifier (default: {''})
        quality {tuple} -- rgb and depth quality, only for kinect2 (default: {()})

    Raises:
        RuntimeError -- for unknown device type

    Returns:
        tuple -- rgb and depth topics
    """
    if device_type == 'kinect':
        camera_name = camera_name or 'camera'
        color_topic = '/{}/rgb/image_rect_color'.format(camera_name)
        depth_topic = '/{}/depth_registered/image'.format(camera_name)

    elif device_type == 'kinect2':
        camera_name = camera_name or 'kinect2'
        quality = quality or ('sd', 'sd')
        color_topic = '/{}/{}/image_color_rect'.format(camera_name, quality[0])
        depth_topic = '/{}/{}/image_depth_rect'.format(camera_name, quality[1])

    elif device_type == 'realsense':
        camera_name = camera_name or 'camera'
        color_topic = '/{}/color/image_rect_color'.format(camera_name)
        depth_topic = '/{}/depth/image_rect_raw'.format(camera_name)

    else:
        raise RuntimeError('Unknown RGBD device type: {}'.format(device_type))

    return color_topic, depth_topic