X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=8f4bac1a9d5acd37c374dd4790788c7304cb4bbc;hp=4227fe96f862a5596c03a81c0f9ec4be3d4f5eca;hb=9ab6ffef86cc96f0bdd52c811fcc1a6635ab56f5;hpb=67ce0bb517f49851a8421981b074d472c8dc9624

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 4227fe9..8f4bac1 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -3,7 +3,10 @@
 	<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">