revert www changes from last commit
[ros_wild_thumper.git] / launch / 3dsensor.launch
index 51c66bb..f09bcba 100644 (file)
@@ -1,16 +1,19 @@
 <?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>
+       <!-- Depth: QVGA 30Hz -->
+       <param name="/camera/driver/depth_mode" value="8" />
+       <!-- Color: QVGA 30Hz -->
+       <param name="/camera/driver/color_mode" value="8" />
+       <!-- reduce to 5Hz -->
+       <param name="/camera/driver/data_skip" value="5" />
 
+       <!--
        <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>