Lower rgb camera resolution to QVGA

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 4227fe96f862a5596c03a81c0f9ec4be3d4f5eca..8f4bac1a9d5acd37c374dd4790788c7304cb4bbc 100644 (file)
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -3,7 +3,10 @@
        <include file="$(find openni2_launch)/launch/openni2.launch">
                <arg name="depth_registration" value="true" />
        </include>
+       <!-- Depth: QQVGA 30Hz -->
        <param name="/camera/driver/depth_mode" value="11" />
+       <!-- Color: QVGA 30Hz -->
+       <param name="/camera/driver/color_mode" value="8" />
        <param name="/camera/driver/data_skip" value="1" />
 
        <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">