From ac6eb64178b2daa163292e425c36172a56f02453 Mon Sep 17 00:00:00 2001
From: Mathieu Labbe <matlabbe@gmail.com>
Date: Mon, 16 Feb 2015 16:51:42 -0500
Subject: [PATCH] updated az3 launch files

---
 launch/azimut3/az3_mapping_robot_nav.launch | 6 ++----
 launch/azimut3/az3_openni.launch            | 3 ---
 2 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_mapping_robot_nav.launch
index 560d708d..2fd7ad55 100644
--- a/launch/azimut3/az3_mapping_robot_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_nav.launch
@@ -8,9 +8,7 @@
   <include file="$(find az3_bringup)/az3_standalone.launch"/>
 
   <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch">
-    <arg name="data_skip" value="5" />
-  </include>
+  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
 
   <!-- SLAM (robot side) -->
   <group ns="rtabmap">
@@ -110,7 +108,7 @@
   <!-- Throttling messages -->
   <group ns="camera">
     <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="rate" type="double" value="0"/> <!-- set by data_skip above -->
+      <param name="rate" type="double" value="5"/>
       <param name="decimation" type="int" value="4"/>
    
       <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
diff --git a/launch/azimut3/az3_openni.launch b/launch/azimut3/az3_openni.launch
index a8c63753..8982436d 100644
--- a/launch/azimut3/az3_openni.launch
+++ b/launch/azimut3/az3_openni.launch
@@ -1,12 +1,9 @@
 
 <launch>
 
-  <arg name="data_skip" default="0" />
-
   <!-- Xtion -->
   <include file="$(find openni2_launch)/launch/openni2.launch">
     <arg name="depth_registration" value="True" />
-    <arg name="data_skip" value="$(arg data_skip)" />
     <arg name="rgb_camera_info_url"
         value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
    <arg name="depth_camera_info_url"