X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=116a631d7fd19f7017f2e0692f41134138c03257;hp=61f622a710a8ec944293f40cb761054061f24a60;hb=6ee1741e4ff83522b2cbd9860ad4ff4d00b42216;hpb=cacb82ac8403db8d5eae119c12faf751ebbe0e71

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 61f622a..116a631 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,10 +1,9 @@
 <?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" />
+		<arg name="depth_registration" value="true" />
 	</include>
+	<param name="/camera/driver/depth_mode" value="11" />
 
 	<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"/>