24 lines
799 B
Plaintext
24 lines
799 B
Plaintext
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<?xml version="1.0"?>
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<launch>
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<arg name="camera" default="camera" />
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<!-- start sensor-->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="camera" default="$(arg camera)"/>
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</include>
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<!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
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<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/PointCloudToLaserScanNodelet $(arg camera)_nodelet_manager">
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<param name="use_inf" value="true"/>
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<param name="use_concurrency" value="true"/>
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<param name="target_frame" value="base_link"/>
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<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
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<remap from="scan" to="$(arg camera)/scan"/>
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</node>
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</launch>
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