launch/3dsensor.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <include file="$(find openni2_launch)/launch/openni2.launch">
   4                 <arg name="depth_processing" value="true" />
   5                 <arg name="rgb_processing" value="false" />
   6                 <arg name="depth_registered_processing" value="false" />
   7         </include>
   8
   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"/>
  12         </node>
  13
  14         <node pkg="dynamic_reconfigure" type="dynparam" name="reconfig" output="screen" args="set /camera/driver depth_mode 11" />
  15 </launch>