From: Erik Andresen <erik@vontaene.de>
Date: Sun, 8 Aug 2021 08:53:09 +0000 (+0200)
Subject: realsense: align depth to color
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=acfbacc7e49053a393de3ecf04ae203c5b6761d8;p=wt_open_manipulator.git

realsense: align depth to color
---

diff --git a/launch/realsense.launch b/launch/realsense.launch
index 99a696c..08cdbbe 100644
--- a/launch/realsense.launch
+++ b/launch/realsense.launch
@@ -21,13 +21,8 @@ ioctl: VIDIOC_ENUM_FMT
 -->
 
 <launch>
-	<!--
-	<node pkg="usb_cam" type="usb_cam_node" name="usb_cam" output="screen" required="true">
-		<param name="video_device" value="/dev/video3"/>
-		<param name="pixel_format" value="yuyv"/>
-		<param name="framerate" value="15"/>
-	</node>
-	-->
+	<arg name="align_depth" default="true"/>
+
 	<include file="$(find realsense2_camera)/launch/rs_camera.launch">
 		<arg name="depth_fps"           default="15"/>
 		<arg name="infra_fps"           default="15"/>
@@ -39,6 +34,7 @@ ioctl: VIDIOC_ENUM_FMT
 		<arg name="publish_tf"          default="true"/>
 		<arg name="publish_odom_tf"     default="false"/>
 		<arg name="enable_pointcloud"   default="false"/>
+		<arg name="align_depth"		value="$(arg align_depth)"/>
 		<!--
 		<arg name="filters"             default="pointcloud"/>
 		-->