+<?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>