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The answer to this question was recently posted by Patrick in a neighboring question regarding 2D Slam. (followed the link provided above by Tom) His suggested launch file worked nicely and addressed the concern posted by Tom above. I have copied it here for completeness ...

<launch> <include file="$(find openni_camera)/launch/openni_node.launch"/>

<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager"> <remap from="cloud_in" to="/camera/depth/points"/> <remap from="cloud_out" to="cloud_throttled"/> </node>

<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager"> <remap from="cloud" to="cloud_throttled"/> </node> </launch>