From: Erik Andresen <erik@vontaene.de>
Date: Sun, 17 Sep 2017 09:47:14 +0000 (+0200)
Subject: Lower rgb camera resolution to QVGA
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=a6b524a0f18ef3e0537ff2bcb71506f5141d7b83;p=ros_wild_thumper.git

Lower rgb camera resolution to QVGA
---

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 4227fe9..8f4bac1 100644
--- 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">