configuration of odometry covariance via dynamic reconfigure

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

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 51c66bbd7a2b7a5dfd34025ad10de1f485e7c544..4227fe96f862a5596c03a81c0f9ec4be3d4f5eca 100644 (file)
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,16 +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="true" />
-               <arg name="depth_registered_processing" value="true" />
                <arg name="depth_registration" value="true" />
        </include>
+       <param name="/camera/driver/depth_mode" value="11" />
+       <param name="/camera/driver/data_skip" value="1" />
 
        <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>