X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2F3dsensor.launch;h=f09bcba81dd1faa02d22b9b9a629d1afd39c8aa9;hp=b2e884f2df3f2e935de7ab6bd2fbc3ca8d923743;hb=3d10c26a464468169ace654c14a29d26cbda13e8;hpb=032350b7a6ff98a529d497072286f4b6937ab8e4

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index b2e884f..f09bcba 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,15 +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"/>
 		<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>