<node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<remap from="/image" to="/camera/depth/image_raw"/>
</node>
<node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<remap from="/image" to="/camera/depth/image_raw"/>
</node>