removed openni2 launch file

diff --git a/arm.launch b/arm.launch
index 03255e2f51e0dd2fbd57b113d5904ed77f143017..9a353f2b52d33dee857e91f3b92f75c443bcefc3 100644 (file)
--- a/arm.launch
+++ b/arm.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-       <include file="$(find arm)/launch/openni2.launch" />
+       <include file="$(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"/>
@@ -8,6 +8,8 @@
                <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>

diff --git a/launch/openni2.launch b/launch/openni2.launch
deleted file mode 100644 (file)
index 12b4cdf..0000000
--- a/launch/openni2.launch
+++ /dev/null
@@ -1,119 +0,0 @@
-<!-- Entry point for using OpenNI2 devices -->
-<launch>
-
-  <!-- "camera" should uniquely identify the device. All topics are pushed down
-       into the "camera" namespace, and it is prepended to tf frame ids. -->
-  <arg name="camera" default="camera" />
-  <arg name="tf_prefix" default="" />
-  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
-
-  <!-- device_id can have the following formats:
-         "#1"  : the first device found
-         "2@X" : the Xth device on USB bus 2 -->
-  <arg name="device_id" default="#1" />
-
-  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
-       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
-       See camera_info_manager docs for calibration URL details. -->
-  <arg name="rgb_camera_info_url"   default="" />
-  <arg name="depth_camera_info_url" default="" />
-
-  <!-- Hardware depth registration -->
-  <arg name="depth_registration" default="false" />
-
-  <!-- Driver parameters -->
-  <arg name="color_depth_synchronization"     default="false" />
-  <arg name="auto_exposure"                   default="true" />
-  <arg name="auto_white_balance"              default="true" />
-
-  <!-- Arguments for remapping all device namespaces -->
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-
-  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
-       tree. Useful if you are playing back recorded raw data from a bag, or are
-       supplying a more accurate tf tree from calibration. -->
-  <arg name="load_driver" default="true" />
-  <arg name="publish_tf" default="true" />
-  <!-- Processing Modules -->
-  <arg name="rgb_processing"                  default="true"  />
-  <arg name="debayer_processing"              default="false" />
-  <arg name="ir_processing"                   default="false" />
-  <arg name="depth_processing"                default="true" />
-  <arg name="depth_registered_processing"     default="true" />
-  <arg name="disparity_processing"            default="false" />
-  <arg name="disparity_registered_processing" default="false" />
-  <arg name="hw_registered_processing"        default="true" if="$(arg depth_registration)" />
-  <arg name="sw_registered_processing"        default="false" if="$(arg depth_registration)" />
-  <arg name="hw_registered_processing"        default="false" unless="$(arg depth_registration)" />
-  <arg name="sw_registered_processing"        default="true" unless="$(arg depth_registration)" />
-
-  <!-- Disable bond topics by default -->
-  <arg name="respawn" default="false" />
-
-  <!-- Worker threads for the nodelet manager -->
-  <arg name="num_worker_threads" default="4" />
-
-  <!-- Push down all topics/nodelets into "camera" namespace -->
-  <group ns="$(arg camera)">
-  
-         <!-- Start nodelet manager -->
-         <arg name="manager" value="$(arg camera)_nodelet_manager" />
-         <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
-         <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
-           <arg name="name" value="$(arg manager)" />
-           <arg name="debug" value="$(arg debug)" />
-           <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
-         </include>
-
-    <!-- Load driver -->
-    <include if="$(arg load_driver)"
-            file="$(find openni2_launch)/launch/includes/device.launch.xml">
-      <arg name="manager"                         value="$(arg manager)" />
-      <arg name="device_id"                       value="$(arg device_id)" />
-      <arg name="rgb_frame_id"                    value="$(arg rgb_frame_id)" />
-      <arg name="depth_frame_id"                  value="$(arg depth_frame_id)" />
-      <arg name="rgb_camera_info_url"             value="$(arg rgb_camera_info_url)" />
-      <arg name="depth_camera_info_url"           value="$(arg depth_camera_info_url)" />
-      <arg name="rgb"                             value="$(arg rgb)" />
-      <arg name="ir"                              value="$(arg ir)" />
-      <arg name="depth"                           value="$(arg depth)" />
-      <arg name="respawn"                         value="$(arg respawn)" />
-      <arg name="depth_registration"              value="$(arg depth_registration)" />
-      <arg name="color_depth_synchronization"     value="$(arg color_depth_synchronization)" />
-      <arg name="auto_exposure"                   value="$(arg auto_exposure)" />
-      <arg name="auto_white_balance"              value="$(arg auto_white_balance)" />
-    </include>
-
-    <!-- Load standard constellation of processing nodelets -->
-    <!--
-    <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
-      <arg name="manager"                         value="$(arg manager)" />
-      <arg name="rgb"                             value="$(arg rgb)" />
-      <arg name="ir"                              value="$(arg ir)" />
-      <arg name="depth"                           value="$(arg depth)" />
-      <arg name="respawn"                         value="$(arg respawn)" />
-      <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
-      <arg name="debayer_processing"              value="$(arg debayer_processing)" />
-      <arg name="ir_processing"                   value="$(arg ir_processing)" />
-      <arg name="depth_processing"                value="$(arg depth_processing)" />
-      <arg name="depth_registered_processing"     value="$(arg depth_registered_processing)" />
-      <arg name="disparity_processing"            value="$(arg disparity_processing)" />
-      <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
-      <arg name="hw_registered_processing"        value="$(arg hw_registered_processing)" />
-      <arg name="sw_registered_processing"        value="$(arg sw_registered_processing)" />
-    </include>
-   -->
-
-  </group> <!-- camera -->
-
-  <!-- Load reasonable defaults for the relative pose between cameras -->
-  <include if="$(arg publish_tf)"
-          file="$(find rgbd_launch)/launch/kinect_frames.launch">
-    <arg name="camera" value="$(arg camera)" />
-    <arg name="tf_prefix" value="$(arg tf_prefix)" />
-  </include>
-
-</launch>