X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=arm.launch;h=877df4c4edd1d55b05412461ec543c4398b67b03;hb=24d33a5f1743b9eb2e9a309317edbc8e56eee226;hp=9a353f2b52d33dee857e91f3b92f75c443bcefc3;hpb=2a0b4553f07585ed1caf2252dc64a495354858ac;p=arm_ros_conn.git

diff --git a/arm.launch b/arm.launch
index 9a353f2..877df4c 100644
--- a/arm.launch
+++ b/arm.launch
@@ -1,15 +1,21 @@
 <?xml version="1.0"?>
 <launch>
-	<include file="$(find openni2_launch)/launch/openni2.launch" />
+	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> 
+
+	<include file="$(find openni2_launch)/launch/openni2.launch">
+		<arg name="rgb_processing" value="false" />
+		<arg name="debayer_processing" value="false" />
+		<arg name="ir_processing" value="false" />
+		<arg name="depth_processing" value="false" />
+		<arg name="depth_registered_processing" value="false" />
+		<arg name="disparity_processing" value="false" />
+		<arg name="disparity_registered_processing" value="false" />
+		<arg name="hw_registered_processing" value="false" />
+		<arg name="sw_registered_processing" value="false" />
+	</include>
 
 	<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
 		<remap from="image" to="/camera/depth/image_raw"/>
 		<remap from="camera_info" to="/camera/depth/camera_info"/>
-		<param name="output_frame_id" value="/scan" />
 	</node>
-
-	<!--
-	<param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
--->
 </launch>