From a6b524a0f18ef3e0537ff2bcb71506f5141d7b83 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 17 Sep 2017 11:47:14 +0200
Subject: [PATCH] Lower rgb camera resolution to QVGA

---
 launch/3dsensor.launch | 3 +++
 1 file changed, 3 insertions(+)

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">
-- 
2.39.5