X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;fp=launch%2F3dsensor.launch;h=8276bb62a72b56fd74a33565270d50380eaa947c;hp=0000000000000000000000000000000000000000;hb=37ec2a1056b61c00cefc44bca9bb5eb7d782a6e1;hpb=bd5ce223f2fe077a697352c44a366a33d1f692f0

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
new file mode 100644
index 0000000..8276bb6
--- /dev/null
+++ b/launch/3dsensor.launch
@@ -0,0 +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" />
+	</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/scan" to="/scan"/>
+	</node>
+</launch>