X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=51c66bbd7a2b7a5dfd34025ad10de1f485e7c544;hp=8276bb62a72b56fd74a33565270d50380eaa947c;hb=65561e3eb3511bfafe2177eac06ae3fe141707bc;hpb=37ec2a1056b61c00cefc44bca9bb5eb7d782a6e1

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 8276bb6..51c66bb 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -2,12 +2,15 @@
 <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="rgb_processing" value="true" />
+		<arg name="depth_registered_processing" value="true" />
+		<arg name="depth_registration" value="true" />
 	</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>