4 <include file="$(find openni2_launch)/launch/openni2.launch" />
6 <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
7 <remap from="image" to="/camera/depth/image_raw"/>
8 <remap from="camera_info" to="/camera/depth/camera_info"/>
9 <param name="output_frame_id" value="/scan" />
13 <param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
15 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />