Lower rgb camera resolution to QVGA
[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_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>