X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=8f4bac1a9d5acd37c374dd4790788c7304cb4bbc;hp=61f622a710a8ec944293f40cb761054061f24a60;hb=5288ffaa49480c1a4d556a288fb4bc38bfb88d97;hpb=860e5f83d540d60b46f4a0f242f007dfd1c0747d

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 61f622a..8f4bac1 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,10 +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" />
+		<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"/>