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openni_camera contains the driver for the OpenNI devices. The functionality is broken up into nodelets, individually responsible for publishing and processing various pieces of data.
openni_launch is just a convenience package, providing launch files for the openni_camera nodelets.
There are two high-level launch files.
openni.launch brings up all the launch files for the nodelets. openni_node.launch brings up the system in a node instead of nodelets.The rest of the launch files are just building blocks - you can use them to bring up the system in a distributed manner, or if you're only interested in partial data.
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