rtabmap_ros/rtabmap_examples/launch/tests/test_undistort_depth.launch

<?xml version="1.0"?>

<launch>

  <!-- Kinect: -->
  <include file="$(find openni2_launch)/launch/openni2.launch">
    <arg name="depth_registration" value="true" />
  </include>

  <arg name="depth"  default="/camera/depth_registered/image_raw" />
  <arg name="model"  default="$(find rtabmap_ros)/launch/calibration/distortion_model_PS1080.bin" /> <!-- XTION Live Pro -->

  <group ns="camera">
    <!-- Undistort depth image -->
    <node pkg="nodelet" type="nodelet" name="undistort" args="load rtabmap_ros/undistort_depth camera_nodelet_manager">
      <remap from="depth" to="$(arg depth)"/>
      <param name="model" value="$(arg model)"/>
    </node>
  </group>

</launch>