realsense: align depth to color

[wt_open_manipulator.git] / launch / realsense.launch

diff --git a/launch/realsense.launch b/launch/realsense.launch
index 99a696c77e550a3c1d6c3d36533bd2896c020cb6..08cdbbe80e14e9b8bda2b0eee6d361632e4c7647 100644 (file)
--- a/launch/realsense.launch
+++ b/launch/realsense.launch
@@ -21,13 +21,8 @@ ioctl: VIDIOC_ENUM_FMT
 -->
 
 <launch>
-       <!--
-       <node pkg="usb_cam" type="usb_cam_node" name="usb_cam" output="screen" required="true">
-               <param name="video_device" value="/dev/video3"/>
-               <param name="pixel_format" value="yuyv"/>
-               <param name="framerate" value="15"/>
-       </node>
-       -->
+       <arg name="align_depth" default="true"/>
+
        <include file="$(find realsense2_camera)/launch/rs_camera.launch">
                <arg name="depth_fps"           default="15"/>
                <arg name="infra_fps"           default="15"/>
@@ -39,6 +34,7 @@ ioctl: VIDIOC_ENUM_FMT
                <arg name="publish_tf"          default="true"/>
                <arg name="publish_odom_tf"     default="false"/>
                <arg name="enable_pointcloud"   default="false"/>
+               <arg name="align_depth"         value="$(arg align_depth)"/>
                <!--
                <arg name="filters"             default="pointcloud"/>
                -->