X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=f09bcba81dd1faa02d22b9b9a629d1afd39c8aa9;hp=8276bb62a72b56fd74a33565270d50380eaa947c;hb=3d10c26a464468169ace654c14a29d26cbda13e8;hpb=37ec2a1056b61c00cefc44bca9bb5eb7d782a6e1

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 8276bb6..f09bcba 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,13 +1,19 @@
 <?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: QVGA 30Hz -->
+	<param name="/camera/driver/depth_mode" value="8" />
+	<!-- Color: QVGA 30Hz -->
+	<param name="/camera/driver/color_mode" value="8" />
+	<!-- reduce to 5Hz -->
+	<param name="/camera/driver/data_skip" value="5" />
 
+	<!--
 	<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>
+	-->
 </launch>