wild_thumper.launch: add joint_state_publisher
[ros_wild_thumper.git] / 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>