<?xml version="1.0"?>
<launch>
- <include file="$(find openni2_launch)/launch/openni2.launch" />
-
- <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
- <remap from="image" to="/camera/depth/image_raw"/>
- <remap from="camera_info" to="/camera/depth/camera_info"/>
- <param name="output_frame_id" value="/scan" />
- </node>
-
- <!--
- <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
--->
+ <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
</launch>