added 3dsensor

[ros_wild_thumper.git] / launch / 3dsensor.launch

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
new file mode 100644 (file)
index 0000000..8276bb6
--- /dev/null
+++ b/launch/3dsensor.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+       <include file="$(find openni2_launch)/launch/openni2.launch">
+               <arg name="depth_processing" value="true" />
+               <arg name="rgb_processing" value="false" />
+               <arg name="depth_registered_processing" value="false" />
+       </include>
+
+       <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
+               <remap from="/camera/image" to="/camera/depth/image_raw"/>
+               <remap from="/camera/scan" to="/scan"/>
+       </node>
+</launch>