X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=8f4bac1a9d5acd37c374dd4790788c7304cb4bbc;hp=116a631d7fd19f7017f2e0692f41134138c03257;hb=5288ffaa49480c1a4d556a288fb4bc38bfb88d97;hpb=c1332ea44ce7d5135b9937777dbe35b2fc83584f

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 116a631..8f4bac1 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -3,7 +3,11 @@
 	<include file="$(find openni2_launch)/launch/openni2.launch">
 		<arg name="depth_registration" value="true" />
 	</include>
+	<!-- Depth: QQVGA 30Hz -->
 	<param name="/camera/driver/depth_mode" value="11" />
+	<!-- Color: QVGA 30Hz -->
+	<param name="/camera/driver/color_mode" value="8" />
+	<param name="/camera/driver/data_skip" value="1" />
 
 	<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"/>