</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/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>