using rosbridge instead of own json server

[arm_ros_conn.git] / arm.launch

diff --git a/arm.launch b/arm.launch
index 9a353f2b52d33dee857e91f3b92f75c443bcefc3..877df4c4edd1d55b05412461ec543c4398b67b03 100644 (file)
--- a/arm.launch
+++ b/arm.launch
@@ -1,15 +1,21 @@
 <?xml version="1.0"?>
 <launch>
-       <include file="$(find openni2_launch)/launch/openni2.launch" />
+       <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> 
+
+       <include file="$(find openni2_launch)/launch/openni2.launch">
+               <arg name="rgb_processing" value="false" />
+               <arg name="debayer_processing" value="false" />
+               <arg name="ir_processing" value="false" />
+               <arg name="depth_processing" value="false" />
+               <arg name="depth_registered_processing" value="false" />
+               <arg name="disparity_processing" value="false" />
+               <arg name="disparity_registered_processing" value="false" />
+               <arg name="hw_registered_processing" value="false" />
+               <arg name="sw_registered_processing" value="false" />
+       </include>
 
        <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
                <remap from="image" to="/camera/depth/image_raw"/>
                <remap from="camera_info" to="/camera/depth/camera_info"/>
-               <param name="output_frame_id" value="/scan" />
        </node>
-
-       <!--
-       <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
--->
 </launch>