X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=arm.launch;h=9cdfe9b1a9f2c19a0354585495abcf00cff02600;hp=b32d8be2703146f1b3085c0dd19ca9fa4dfc543e;hb=e22ba836d75ea0e028cb8c42463f14e6f9044d30;hpb=b4f1007066b11132d166134959db0a269d42e024

diff --git a/arm.launch b/arm.launch
index b32d8be..9cdfe9b 100644
--- a/arm.launch
+++ b/arm.launch
@@ -1,10 +1,19 @@
 <?xml version="1.0"?>
 <launch>
-	<include file="$(find openni2_launch)/launch/openni2.launch" />
+	<include file="$(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>
 </launch>