move_base: don't launch mapserver if nomap is set

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

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 8276bb62a72b56fd74a33565270d50380eaa947c..b2e884f2df3f2e935de7ab6bd2fbc3ca8d923743 100644 (file)
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -7,7 +7,9 @@
        </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>