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