global_costmap:

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

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 61f622a710a8ec944293f40cb761054061f24a60..8f4bac1a9d5acd37c374dd4790788c7304cb4bbc 100644 (file)
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,10 +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" />
+               <arg name="depth_registration" value="true" />
        </include>
+       <!-- Depth: QQVGA 30Hz -->
+       <param name="/camera/driver/depth_mode" value="11" />
+       <!-- Color: QVGA 30Hz -->
+       <param name="/camera/driver/color_mode" value="8" />
+       <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"/>