3 <include file="$(find openni2_launch)/launch/openni2.launch" />
5 <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
6 <remap from="image" to="/camera/depth/image_raw"/>
7 <remap from="camera_info" to="/camera/depth/camera_info"/>
8 <param name="output_frame_id" value="/scan" />