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1 <?xml version="1.0"?>
2 <launch>
3         <include file="$(find openni2_launch)/launch/openni2.launch">
4                 <arg name="rgb_processing" value="false" />
5                 <arg name="debayer_processing" value="false" />
6                 <arg name="ir_processing" value="false" />
7                 <arg name="depth_processing" value="false" />
8                 <arg name="depth_registered_processing" value="false" />
9                 <arg name="disparity_processing" value="false" />
10                 <arg name="disparity_registered_processing" value="false" />
11                 <arg name="hw_registered_processing" value="false" />
12                 <arg name="sw_registered_processing" value="false" />
13         </include>
14
15         <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
16                 <remap from="image" to="/camera/depth/image_raw"/>
17                 <remap from="camera_info" to="/camera/depth/camera_info"/>
18         </node>
19 </launch>