3 <include file="$(find openni2_launch)/launch/openni2.launch">
4 <arg name="depth_processing" value="true" />
5 <arg name="rgb_processing" value="true" />
6 <arg name="depth_registered_processing" value="true" />
7 <arg name="depth_registration" value="true" />
10 <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
11 <remap from="/camera/image" to="/camera/depth/image"/>
12 <remap from="/camera/scan" to="/scan"/>
15 <node pkg="dynamic_reconfigure" type="dynparam" name="reconfig" output="screen" args="set /camera/driver depth_mode 11" />