From: Erik Andresen <erik@vontaene.de>
Date: Sat, 20 Dec 2014 11:41:05 +0000 (+0100)
Subject: deactivated openni processing
X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=commitdiff_plain;h=e22ba836d75ea0e028cb8c42463f14e6f9044d30

deactivated openni processing
---

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>