From c1332ea44ce7d5135b9937777dbe35b2fc83584f Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Mon, 28 Dec 2015 17:02:36 +0100
Subject: [PATCH] wait 3s for ros to register and establish all subscriber
 connections before sending reset diag message

---
 launch/3dsensor.launch | 3 ---
 scripts/wt_node.py     | 1 +
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 2ff5d39..116a631 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,9 +1,6 @@
 <?xml version="1.0"?>
 <launch>
 	<include file="$(find openni2_launch)/launch/openni2.launch">
-		<arg name="depth_processing" value="true" />
-		<arg name="rgb_processing" value="true" />
-		<arg name="depth_registered_processing" value="true" />
 		<arg name="depth_registration" value="true" />
 	</include>
 	<param name="/camera/driver/depth_mode" value="11" />
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 612d5e3..a5978b0 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -74,6 +74,7 @@ class MoveBase:
 	
 	def run(self):
 		rate = rospy.Rate(20.0)
+		sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
 		reset_val = self.get_reset()
 		rospy.loginfo("Reset Status: 0x%x" % reset_val)
 		i = 0
-- 
2.39.5