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  1. <launch>
  2.   <node pkg="openni_camera" type="openni_node" name="openni_node1" output="screen" >
  3.     <remap from="camera" to="kinect1" />
  4.     <!--param name="topic" value="first" /-->
  5.     <!--param name="device_id" value="B00361202008044B"/--> <!-- this line uses device with given serial number -->
  6.  
  7.     <param name="device_id" value="#1"/> <!-- this line uses first enumerated device -->
  8.     <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
  9.     <param name="rgb_frame_id" value="/openni_rgb_optical_frame1" />
  10.     <param name="depth_frame_id" value="/openni_depth_optical_frame1" />
  11.     <param name="depth_registration" value="true" />
  12.     <param name="image_mode" value="2" />
  13.     <param name="depth_mode" value="2" />
  14.     <param name="debayering" value="2" />
  15.     <param name="depth_time_offset" value="0" />
  16.     <param name="image_time_offset" value="0" />
  17.   </node>
  18.   <include file="$(find openni_camera)/launch/kinect_frames1.launch"/>
  19. </launch>
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https://ideone.com/GWOq8
language:
Text (text 6.10)
created:
13 years ago
visibility:
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