Added undistort_depth nodelet

launch/tests/test_undistort_depth.launch

@@ -0,0 +1,20 @@
+
+<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>