<?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" />
+ <arg name="depth_registration" value="true" />
</include>
+ <param name="/camera/driver/depth_mode" value="11" />
<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"/>
<remap from="/camera/scan" to="/scan"/>
</node>
-
- <node pkg="dynamic_reconfigure" type="dynparam" name="reconfig" output="screen" args="set /camera/driver depth_mode 11" />
</launch>