launch/3dsensor.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <include file="$(find openni2_launch)/launch/openni2.launch">
   4                 <arg name="depth_registration" value="true" />
   5         </include>
   6         <!-- Depth: QQVGA 30Hz -->
   7         <param name="/camera/driver/depth_mode" value="11" />
   8         <!-- Color: QVGA 30Hz -->
   9         <param name="/camera/driver/color_mode" value="8" />
  10         <param name="/camera/driver/data_skip" value="1" />
  11
  12         <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
  13                 <remap from="/camera/image" to="/camera/depth/image"/>
  14                 <remap from="/camera/scan" to="/scan"/>
  15         </node>
  16 </launch>