3dsensor: use rosparam to set depth mode
[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="true" />
6                 <arg name="depth_registered_processing" value="true" />
7                 <arg name="depth_registration" value="true" />
8         </include>
9         <param name="/camera/driver/depth_mode" value="11" />
10
11         <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
12                 <remap from="/camera/image" to="/camera/depth/image"/>
13                 <remap from="/camera/scan" to="/scan"/>
14         </node>
15 </launch>