mirror of
https://github.com/introlab/rtabmap_ros.git
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21 lines
667 B
XML
21 lines
667 B
XML
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<launch>
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<!-- Kinect: -->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="depth_registration" value="true" />
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</include>
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<arg name="depth" default="/camera/depth_registered/image_raw" />
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<arg name="model" default="$(find rtabmap_ros)/launch/calibration/distortion_model_PS1080.bin" /> <!-- XTION Live Pro -->
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<group ns="camera">
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<!-- Undistort depth image -->
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<node pkg="nodelet" type="nodelet" name="undistort" args="load rtabmap_ros/undistort_depth camera_nodelet_manager">
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<remap from="depth" to="$(arg depth)"/>
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<param name="model" value="$(arg model)"/>
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</node>
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</group>
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</launch>
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