3 <include file="$(find openni2_launch)/launch/openni2.launch">
4 <arg name="depth_registration" value="true" />
6 <param name="/camera/driver/depth_mode" value="11" />
7 <param name="/camera/driver/data_skip" value="1" />
9 <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
10 <remap from="/camera/image" to="/camera/depth/image"/>
11 <remap from="/camera/scan" to="/scan"/>