From 0ddbebd09f44a44ba7888a73e6f478ccedb6ba9f Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 25 Aug 2015 16:46:34 -0400
Subject: [PATCH] Fixed kinectv2 launch file for sd (kinect2_bridge doesn't
 publish /kinect2/sd/image_mono_rect)

---
 launch/rgbd_mapping_kinect2.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/rgbd_mapping_kinect2.launch b/launch/rgbd_mapping_kinect2.launch
index 9e4cbd41..f16d8307 100644
--- a/launch/rgbd_mapping_kinect2.launch
+++ b/launch/rgbd_mapping_kinect2.launch
@@ -55,7 +55,7 @@
   
     <!-- Odometry -->
     <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
-      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_mono_rect"/>
+      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
       <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
       <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>