<?xml version="1.0"?>
<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"/>
- </node>
</launch>